From 38d2b5b58b15989d1fc29f947906eb8f63e26bad Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Nicol=C3=B2=20Genesio=20=28=E4=BA=8C=E3=82=B3=E3=82=B2?=
 =?UTF-8?q?=E3=83=8D=29?= <nicolo.genesio@iit.it>
Date: Wed, 2 Dec 2020 10:39:49 +0000
Subject: [PATCH 01/10] Automatic build. GitHub Actions build: 395866769
 icub-model-generator commit:0376fc2de838ecc35d178c3a26a982907ce54168
 urdf_parser_py commit:31474b9baaf7c3845b40e5a9aa87d5900a2282c3
 simmechanics-to-urdf commit:f6055ab8d627c45138ddde46532ea42a74b48caa

---
 .../gazebo_icub_head_without_eyes_V2_7.ini    | 73 +++++++++++++++++++
 iCub/conf_icub3/left_camera.ini               |  2 +-
 iCub/conf_icub3/right_camera.ini              |  2 +-
 iCub/robots/iCubGazeboV3/model.urdf           | 46 +++++++++++-
 iCub/robots/iCubGenova09/model.urdf           | 46 +++++++++++-
 5 files changed, 165 insertions(+), 4 deletions(-)
 create mode 100644 iCub/conf_icub3/gazebo_icub_head_without_eyes_V2_7.ini

diff --git a/iCub/conf_icub3/gazebo_icub_head_without_eyes_V2_7.ini b/iCub/conf_icub3/gazebo_icub_head_without_eyes_V2_7.ini
new file mode 100644
index 0000000..bb7b371
--- /dev/null
+++ b/iCub/conf_icub3/gazebo_icub_head_without_eyes_V2_7.ini
@@ -0,0 +1,73 @@
+[include "gazebo_icub_robotname.ini"]
+
+[WRAPPER]
+# name of the wrapper device to be instatiated by the factory
+device controlboardwrapper2
+# rate of output streaming from ports in ms
+period 10
+# output port name (a leading '/' will be added by code)
+name /${gazeboYarpPluginsRobotName}/head
+# Total number of joints
+joints 3
+# list of MotorControl device to use
+networks ( head )
+# for each network specify the joint map
+head 0 2 0 2
+# Verbose output (on if present, off if commented out)
+#verbose
+
+[TRAJECTORY_GENERATION]
+trajectory_type minimum_jerk
+
+# Specify configuration of MotorControl devices
+[head]
+# name of the device to be instatiated by the factory
+device gazebo_controlboard
+#jointNames list
+jointNames neck_pitch neck_roll neck_yaw
+name head
+
+min_stiffness 0.0    0.0    0.0   
+max_stiffness 1000.0 1000.0 1000.0
+min_damping   0.0    0.0    0.0   
+max_damping   100.0  100.0  100.0 
+
+#PIDs:
+# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values
+[POSITION_CONTROL]
+controlUnits  metric_units
+controlLaw    joint_pid_gazebo_v1
+kp            1.745 1.745 1.745
+kd            0.122 0.122 0.122
+ki            0.003 0.003 0.003
+maxInt        9999  9999  9999 
+maxOutput     9999  9999  9999 
+shift         0.0   0.0   0.0  
+ko            0.0   0.0   0.0  
+stictionUp    0.0   0.0   0.0  
+stictionDwn   0.0   0.0   0.0  
+
+[VELOCITY_CONTROL]
+velocityControlImplementationType integrator_and_position_pid
+controlUnits  metric_units
+controlLaw    joint_pid_gazebo_v1
+kp            8.726 8.726 8.726
+kd            0.035 0.035 0.035
+ki            0.003 0.003 0.003
+maxInt        9999  9999  9999 
+maxOutput     9999  9999  9999 
+shift         0.0   0.0   0.0  
+ko            0.0   0.0   0.0  
+stictionUp    0.0   0.0   0.0  
+stictionDwn   0.0   0.0   0.0  
+
+[IMPEDANCE_CONTROL]
+controlUnits  metric_units
+controlLaw    joint_pid_gazebo_v1
+stiffness     0.0   0.0   0.0
+damping       0.0   0.0   0.0
+
+[LIMITS]
+jntPosMax 17.0 20.0 45.0 
+jntPosMin -30.0 -20.0 -45.0
+jntVelMax 100.0 100.0 100.0
diff --git a/iCub/conf_icub3/left_camera.ini b/iCub/conf_icub3/left_camera.ini
index 2920746..501b2ff 100644
--- a/iCub/conf_icub3/left_camera.ini
+++ b/iCub/conf_icub3/left_camera.ini
@@ -1,6 +1,6 @@
 [include "gazebo_icub_robotname.ini"]
 
-device grabber
+device grabberDual
 subdevice gazebo_camera
 name /${gazeboYarpPluginsRobotName}/cam/left
 freq 30
diff --git a/iCub/conf_icub3/right_camera.ini b/iCub/conf_icub3/right_camera.ini
index 5cf907a..290cd5a 100644
--- a/iCub/conf_icub3/right_camera.ini
+++ b/iCub/conf_icub3/right_camera.ini
@@ -1,6 +1,6 @@
 [include "gazebo_icub_robotname.ini"]
 
-device grabber
+device grabberDual
 subdevice gazebo_camera
 name /${gazeboYarpPluginsRobotName}/cam/right
 freq 30
diff --git a/iCub/robots/iCubGazeboV3/model.urdf b/iCub/robots/iCubGazeboV3/model.urdf
index 6b3abd9..fc704ad 100644
--- a/iCub/robots/iCubGazeboV3/model.urdf
+++ b/iCub/robots/iCubGazeboV3/model.urdf
@@ -1450,7 +1450,7 @@
 </gazebo>
   <gazebo>
 <plugin name="controlboard_head_without_eyes" filename="libgazebo_yarp_controlboard.so">
-<yarpConfigurationFile>model://iCub/conf_icub3/gazebo_icub_head_without_eyes.ini</yarpConfigurationFile>
+<yarpConfigurationFile>model://iCub/conf_icub3/gazebo_icub_head_without_eyes_V2_7.ini</yarpConfigurationFile>
 </plugin>
 </gazebo>
   <gazebo reference="neck_pitch">
@@ -1711,6 +1711,28 @@
       <always_on>1</always_on>
       <update_rate>30</update_rate>
       <pose>0.0894115 0.0175 0.09929950000000001 -1.5707963267948968 -0.0 -1.5707963267948968</pose>
+      <camera name="intel_realsense_depth_camera">
+  <pose>0 0 0 -1.57079 -1.57079 3.14159</pose>
+  <horizontal_fov>1.57079</horizontal_fov>
+  <distortion>
+    <k1>0</k1>
+    <k2>0</k2>
+    <k3>0</k3>
+    <p1>0</p1>
+    <p2>0</p2>
+    <center>319.5 239.5</center>
+  </distortion>
+  <image>
+    <width>640</width>
+    <height>480</height>
+    <format>R8G8B8</format>
+  </image>
+  <clip>
+    <near>0.175</near>
+    <far>3000</far>
+  </clip>
+</camera>
+      <visualize>false</visualize>
       <plugin name="iCub_yarp_gazebo_plugin_depthCamera" filename="libgazebo_yarp_depthCamera.so">
     <yarpConfigurationFile>model://iCub/conf_icub3/gazebo_icub_depth_camera.ini</yarpConfigurationFile>
 </plugin>
@@ -1725,6 +1747,28 @@
       <always_on>1</always_on>
       <update_rate>30</update_rate>
       <pose>0.0894115 -0.0115 0.09929950000000001 -1.5707963267948968 -0.0 -1.5707963267948968</pose>
+      <camera name="intel_realsense_rgb_camera">
+  <pose>0 0 0 -1.57079 -1.57079 3.14159</pose>
+  <horizontal_fov>1.2217</horizontal_fov>
+  <distortion>
+    <k1>0</k1>
+    <k2>0</k2>
+    <k3>0</k3>
+    <p1>0</p1>
+    <p2>0</p2>
+    <center>319.5 239.5</center>
+  </distortion>
+  <image>
+    <width>640</width>
+    <height>480</height>
+    <format>R8G8B8</format>
+  </image>
+  <clip>
+    <near>0.02</near>
+    <far>3000</far>
+  </clip>
+</camera>
+      <visualize>false</visualize>
       <plugin name="iCub_yarp_gazebo_plugin_camera" filename="libgazebo_yarp_camera.so">
     <yarpConfigurationFile>model://iCub/conf_icub3/gazebo_icub_rgb_camera.ini</yarpConfigurationFile>
 </plugin>
diff --git a/iCub/robots/iCubGenova09/model.urdf b/iCub/robots/iCubGenova09/model.urdf
index 6fdff34..49d4f2f 100644
--- a/iCub/robots/iCubGenova09/model.urdf
+++ b/iCub/robots/iCubGenova09/model.urdf
@@ -1450,7 +1450,7 @@
 </gazebo>
   <gazebo>
 <plugin name="controlboard_head_without_eyes" filename="libgazebo_yarp_controlboard.so">
-<yarpConfigurationFile>model://iCub/conf_icub3/gazebo_icub_head_without_eyes.ini</yarpConfigurationFile>
+<yarpConfigurationFile>model://iCub/conf_icub3/gazebo_icub_head_without_eyes_V2_7.ini</yarpConfigurationFile>
 </plugin>
 </gazebo>
   <gazebo reference="neck_pitch">
@@ -1711,6 +1711,28 @@
       <always_on>1</always_on>
       <update_rate>30</update_rate>
       <pose>0.0894115 0.0175 0.09929950000000001 -1.5707963267948968 -0.0 -1.5707963267948968</pose>
+      <camera name="intel_realsense_depth_camera">
+  <pose>0 0 0 -1.57079 -1.57079 3.14159</pose>
+  <horizontal_fov>1.57079</horizontal_fov>
+  <distortion>
+    <k1>0</k1>
+    <k2>0</k2>
+    <k3>0</k3>
+    <p1>0</p1>
+    <p2>0</p2>
+    <center>319.5 239.5</center>
+  </distortion>
+  <image>
+    <width>640</width>
+    <height>480</height>
+    <format>R8G8B8</format>
+  </image>
+  <clip>
+    <near>0.175</near>
+    <far>3000</far>
+  </clip>
+</camera>
+      <visualize>false</visualize>
       <plugin name="iCub_yarp_gazebo_plugin_depthCamera" filename="libgazebo_yarp_depthCamera.so">
     <yarpConfigurationFile>model://iCub/conf_icub3/gazebo_icub_depth_camera.ini</yarpConfigurationFile>
 </plugin>
@@ -1725,6 +1747,28 @@
       <always_on>1</always_on>
       <update_rate>30</update_rate>
       <pose>0.0894115 -0.0115 0.09929950000000001 -1.5707963267948968 -0.0 -1.5707963267948968</pose>
+      <camera name="intel_realsense_rgb_camera">
+  <pose>0 0 0 -1.57079 -1.57079 3.14159</pose>
+  <horizontal_fov>1.2217</horizontal_fov>
+  <distortion>
+    <k1>0</k1>
+    <k2>0</k2>
+    <k3>0</k3>
+    <p1>0</p1>
+    <p2>0</p2>
+    <center>319.5 239.5</center>
+  </distortion>
+  <image>
+    <width>640</width>
+    <height>480</height>
+    <format>R8G8B8</format>
+  </image>
+  <clip>
+    <near>0.02</near>
+    <far>3000</far>
+  </clip>
+</camera>
+      <visualize>false</visualize>
       <plugin name="iCub_yarp_gazebo_plugin_camera" filename="libgazebo_yarp_camera.so">
     <yarpConfigurationFile>model://iCub/conf_icub3/gazebo_icub_rgb_camera.ini</yarpConfigurationFile>
 </plugin>

From 94bdb0a43c1701fc67b5262645fd2cdf5c5db83b Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio.traversaro@iit.it>
Date: Wed, 2 Dec 2020 15:11:47 +0000
Subject: [PATCH 02/10] Automatic build. GitHub Actions build: 396335869
 icub-model-generator commit:b4d31861b14ea1d0cbc4e5952091633f708fdcc8
 urdf_parser_py commit:31474b9baaf7c3845b40e5a9aa87d5900a2282c3
 simmechanics-to-urdf commit:f6055ab8d627c45138ddde46532ea42a74b48caa

---
 iCub/robots/iCubGazeboV3/model.urdf | 16 ++++++++--------
 iCub/robots/iCubGenova09/model.urdf | 16 ++++++++--------
 2 files changed, 16 insertions(+), 16 deletions(-)

diff --git a/iCub/robots/iCubGazeboV3/model.urdf b/iCub/robots/iCubGazeboV3/model.urdf
index fc704ad..234a64e 100644
--- a/iCub/robots/iCubGazeboV3/model.urdf
+++ b/iCub/robots/iCubGazeboV3/model.urdf
@@ -1588,7 +1588,7 @@
       <update_rate>100</update_rate>
       <force_torque>
         <frame>sensor</frame>
-        <measure_direction>child_to_parent</measure_direction>
+        <measure_direction>parent_to_child</measure_direction>
       </force_torque>
       <pose>0.13524999999999998 0.0 -0.04349999999999998 0.0 -0.0 -2.094395210586932</pose>
       <plugin name="left_foot_front_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
@@ -1600,7 +1600,7 @@
     <parent joint="l_foot_front_ft_sensor"/>
     <force_torque>
       <frame>sensor</frame>
-      <measure_direction>child_to_parent</measure_direction>
+      <measure_direction>parent_to_child</measure_direction>
     </force_torque>
     <origin rpy="0.0 -0.0 -2.094395210586932" xyz="0.13524999999999998 0.0 -0.04349999999999998"/>
   </sensor>
@@ -1610,7 +1610,7 @@
       <update_rate>100</update_rate>
       <force_torque>
         <frame>sensor</frame>
-        <measure_direction>child_to_parent</measure_direction>
+        <measure_direction>parent_to_child</measure_direction>
       </force_torque>
       <pose>0.016 0.0 -0.04349999999999998 0.0 -0.0 -2.094395210586932</pose>
       <plugin name="left_foot_rear_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
@@ -1622,7 +1622,7 @@
     <parent joint="l_foot_rear_ft_sensor"/>
     <force_torque>
       <frame>sensor</frame>
-      <measure_direction>child_to_parent</measure_direction>
+      <measure_direction>parent_to_child</measure_direction>
     </force_torque>
     <origin rpy="0.0 -0.0 -2.094395210586932" xyz="0.016 0.0 -0.04349999999999998"/>
   </sensor>
@@ -1654,7 +1654,7 @@
       <update_rate>100</update_rate>
       <force_torque>
         <frame>sensor</frame>
-        <measure_direction>child_to_parent</measure_direction>
+        <measure_direction>parent_to_child</measure_direction>
       </force_torque>
       <pose>0.13525 0.0 -0.04349999999999998 0.0 -0.0 -2.094395210586932</pose>
       <plugin name="right_foot_front_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
@@ -1666,7 +1666,7 @@
     <parent joint="r_foot_front_ft_sensor"/>
     <force_torque>
       <frame>sensor</frame>
-      <measure_direction>child_to_parent</measure_direction>
+      <measure_direction>parent_to_child</measure_direction>
     </force_torque>
     <origin rpy="0.0 -0.0 -2.094395210586932" xyz="0.13525 0.0 -0.04349999999999998"/>
   </sensor>
@@ -1676,7 +1676,7 @@
       <update_rate>100</update_rate>
       <force_torque>
         <frame>sensor</frame>
-        <measure_direction>child_to_parent</measure_direction>
+        <measure_direction>parent_to_child</measure_direction>
       </force_torque>
       <pose>0.016 0.0 -0.04349999999999998 0.0 -0.0 -2.094395210586932</pose>
       <plugin name="right_foot_rear_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
@@ -1688,7 +1688,7 @@
     <parent joint="r_foot_rear_ft_sensor"/>
     <force_torque>
       <frame>sensor</frame>
-      <measure_direction>child_to_parent</measure_direction>
+      <measure_direction>parent_to_child</measure_direction>
     </force_torque>
     <origin rpy="0.0 -0.0 -2.094395210586932" xyz="0.016 0.0 -0.04349999999999998"/>
   </sensor>
diff --git a/iCub/robots/iCubGenova09/model.urdf b/iCub/robots/iCubGenova09/model.urdf
index 49d4f2f..22944fe 100644
--- a/iCub/robots/iCubGenova09/model.urdf
+++ b/iCub/robots/iCubGenova09/model.urdf
@@ -1588,7 +1588,7 @@
       <update_rate>100</update_rate>
       <force_torque>
         <frame>sensor</frame>
-        <measure_direction>child_to_parent</measure_direction>
+        <measure_direction>parent_to_child</measure_direction>
       </force_torque>
       <pose>0.13524999999999998 0.0 -0.04349999999999998 0.0 -0.0 -2.094395210586932</pose>
       <plugin name="left_foot_front_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
@@ -1600,7 +1600,7 @@
     <parent joint="l_foot_front_ft_sensor"/>
     <force_torque>
       <frame>sensor</frame>
-      <measure_direction>child_to_parent</measure_direction>
+      <measure_direction>parent_to_child</measure_direction>
     </force_torque>
     <origin rpy="0.0 -0.0 -2.094395210586932" xyz="0.13524999999999998 0.0 -0.04349999999999998"/>
   </sensor>
@@ -1610,7 +1610,7 @@
       <update_rate>100</update_rate>
       <force_torque>
         <frame>sensor</frame>
-        <measure_direction>child_to_parent</measure_direction>
+        <measure_direction>parent_to_child</measure_direction>
       </force_torque>
       <pose>0.016 0.0 -0.04349999999999998 0.0 -0.0 -2.094395210586932</pose>
       <plugin name="left_foot_rear_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
@@ -1622,7 +1622,7 @@
     <parent joint="l_foot_rear_ft_sensor"/>
     <force_torque>
       <frame>sensor</frame>
-      <measure_direction>child_to_parent</measure_direction>
+      <measure_direction>parent_to_child</measure_direction>
     </force_torque>
     <origin rpy="0.0 -0.0 -2.094395210586932" xyz="0.016 0.0 -0.04349999999999998"/>
   </sensor>
@@ -1654,7 +1654,7 @@
       <update_rate>100</update_rate>
       <force_torque>
         <frame>sensor</frame>
-        <measure_direction>child_to_parent</measure_direction>
+        <measure_direction>parent_to_child</measure_direction>
       </force_torque>
       <pose>0.13525 0.0 -0.04349999999999998 0.0 -0.0 -2.094395210586932</pose>
       <plugin name="right_foot_front_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
@@ -1666,7 +1666,7 @@
     <parent joint="r_foot_front_ft_sensor"/>
     <force_torque>
       <frame>sensor</frame>
-      <measure_direction>child_to_parent</measure_direction>
+      <measure_direction>parent_to_child</measure_direction>
     </force_torque>
     <origin rpy="0.0 -0.0 -2.094395210586932" xyz="0.13525 0.0 -0.04349999999999998"/>
   </sensor>
@@ -1676,7 +1676,7 @@
       <update_rate>100</update_rate>
       <force_torque>
         <frame>sensor</frame>
-        <measure_direction>child_to_parent</measure_direction>
+        <measure_direction>parent_to_child</measure_direction>
       </force_torque>
       <pose>0.016 0.0 -0.04349999999999998 0.0 -0.0 -2.094395210586932</pose>
       <plugin name="right_foot_rear_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
@@ -1688,7 +1688,7 @@
     <parent joint="r_foot_rear_ft_sensor"/>
     <force_torque>
       <frame>sensor</frame>
-      <measure_direction>child_to_parent</measure_direction>
+      <measure_direction>parent_to_child</measure_direction>
     </force_torque>
     <origin rpy="0.0 -0.0 -2.094395210586932" xyz="0.016 0.0 -0.04349999999999998"/>
   </sensor>

From 3162d663a223a68d02b5f4142fbd6c0bc139ef5b Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Nicol=C3=B2=20Genesio=20=28=E4=BA=8C=E3=82=B3=E3=82=B2?=
 =?UTF-8?q?=E3=83=8D=29?= <nicolo.genesio@iit.it>
Date: Thu, 3 Dec 2020 10:39:47 +0000
Subject: [PATCH 03/10] Automatic build. GitHub Actions build: 398142515
 icub-model-generator commit:95f00797b7972a62a66e6dfedc97c8824e6012b9
 urdf_parser_py commit:31474b9baaf7c3845b40e5a9aa87d5900a2282c3
 simmechanics-to-urdf commit:f6055ab8d627c45138ddde46532ea42a74b48caa

---
 iCub/robots/iCubDarmstadt01/model.urdf     | 374 ++++++++++-----------
 iCub/robots/iCubGazeboV2_5/model.urdf      | 372 ++++++++++----------
 iCub/robots/iCubGazeboV2_5_plus/model.urdf | 346 +++++++++----------
 iCub/robots/iCubGazeboV2_6/model.urdf      | 372 ++++++++++----------
 iCub/robots/iCubGazeboV2_7/model.urdf      | 372 ++++++++++----------
 iCub/robots/iCubGazeboV3/model.urdf        | 188 ++++-------
 iCub/robots/iCubGenova01/model.urdf        | 374 ++++++++++-----------
 iCub/robots/iCubGenova02/model.urdf        | 348 +++++++++----------
 iCub/robots/iCubGenova04/model.urdf        | 374 ++++++++++-----------
 iCub/robots/iCubGenova04_plus/model.urdf   | 348 +++++++++----------
 iCub/robots/iCubGenova09/model.urdf        | 190 ++++-------
 11 files changed, 1785 insertions(+), 1873 deletions(-)

diff --git a/iCub/robots/iCubDarmstadt01/model.urdf b/iCub/robots/iCubDarmstadt01/model.urdf
index 676aece..1acd7d5 100644
--- a/iCub/robots/iCubDarmstadt01/model.urdf
+++ b/iCub/robots/iCubDarmstadt01/model.urdf
@@ -23,12 +23,12 @@
   </link>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -37,7 +37,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -199,7 +199,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
+    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -213,7 +213,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
+    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -241,7 +241,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
+    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -269,21 +269,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
+    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
+    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
+    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -318,14 +318,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
+    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
+    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -339,21 +339,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
+    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
+    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
+    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -374,14 +374,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
+    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
+    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -402,7 +402,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
+    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -416,7 +416,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
+    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -511,12 +511,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.033600099999999994 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.03360009999999998 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.382866"/>
       <inertia ixx="0.00120946" ixy="3.74585e-07" ixz="-5.78759e-05" iyy="0.00141439" iyz="-7.80325e-06" izz="0.000273599"/>
     </inertial>
     <visual>
-      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -525,7 +525,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -539,14 +539,14 @@
   </joint>
   <link name="r_sole"/>
   <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.003500000000000003 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
+    <origin xyz="0.003499999999999996 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_0"/>
   <joint name="r_sole_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.060476699999999994 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.06047669999999999 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_0"/>
     <dynamics damping="0.1"/>
@@ -560,14 +560,14 @@
   </joint>
   <link name="r_sole_skin_2"/>
   <joint name="r_sole_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.09320869999999999 -0.032368 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.09320869999999998 -0.032368 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_3"/>
   <joint name="r_sole_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.11158309999999998 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.11158309999999996 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_3"/>
     <dynamics damping="0.1"/>
@@ -609,112 +609,112 @@
   </joint>
   <link name="r_sole_skin_12"/>
   <joint name="r_sole_skin_12_fixed_joint" type="fixed">
-    <origin xyz="0.08286799999999998 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.08286799999999997 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_12"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_13"/>
   <joint name="r_sole_skin_13_fixed_joint" type="fixed">
-    <origin xyz="0.10124239999999998 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.10124239999999997 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_13"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_14"/>
   <joint name="r_sole_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.050136039999999986 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.05013603999999998 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_14"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_15"/>
   <joint name="r_sole_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.04611918999999999 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.046119189999999984 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_17"/>
   <joint name="r_sole_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.02968549999999999 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.029685499999999997 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_18"/>
   <joint name="r_sole_skin_18_fixed_joint" type="fixed">
-    <origin xyz="-0.0480599 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.04805990000000001 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_18"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_19"/>
   <joint name="r_sole_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.052076700000000004 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.05207670000000001 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_20"/>
   <joint name="r_sole_skin_20_fixed_joint" type="fixed">
-    <origin xyz="-0.03771920000000001 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.037719200000000015 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_21"/>
   <joint name="r_sole_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.03577849999999999 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.03577849999999998 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_21"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_22"/>
   <joint name="r_sole_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.027744799999999997 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.02774479999999999 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_22"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_24"/>
   <joint name="r_sole_skin_24_fixed_joint" type="fixed">
-    <origin xyz="-0.004987199999999997 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.004987200000000004 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_24"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_25"/>
   <joint name="r_sole_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.013387200000000002 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.013387199999999995 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_25"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_26"/>
   <joint name="r_sole_skin_26_fixed_joint" type="fixed">
-    <origin xyz="0.017404099999999992 0.0133722 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.017404099999999985 0.0133722 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_26"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_27"/>
   <joint name="r_sole_skin_27_fixed_joint" type="fixed">
-    <origin xyz="0.0030464999999999867 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.0030464999999999798 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_27"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_28"/>
   <joint name="r_sole_skin_28_fixed_joint" type="fixed">
-    <origin xyz="-0.015327899999999992 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.015327899999999998 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_28"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_29"/>
   <joint name="r_sole_skin_29_fixed_joint" type="fixed">
-    <origin xyz="-0.019344799999999995 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.019344800000000002 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_29"/>
     <dynamics damping="0.1"/>
@@ -938,12 +938,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
+      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000158626" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.000206526" iyz="1.19785e-06" izz="0.000104956"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -952,15 +952,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
-    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
+    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -989,7 +989,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
+    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -1026,12 +1026,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13344e-05" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="5.86947e-05" iyz="3.92498e-06" izz="9.68353e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1040,7 +1040,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1056,7 +1056,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -1077,7 +1077,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -1086,35 +1086,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1135,14 +1135,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -1170,7 +1170,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -1191,35 +1191,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1254,19 +1254,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="5.57722e-06" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="5.29845e-06" iyz="-1.59685e-07" izz="1.87724e-06"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1275,14 +1275,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -1312,7 +1312,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -1358,12 +1358,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
+      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000159621" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.000222574" iyz="1.20112e-06" izz="0.000120056"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1372,15 +1372,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
-    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
+    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -1409,7 +1409,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
+    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -1446,7 +1446,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13352e-05" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="5.86823e-05" iyz="3.9319e-06" izz="9.68469e-05"/>
     </inertial>
@@ -1476,7 +1476,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -1497,7 +1497,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -1506,35 +1506,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1555,7 +1555,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -1576,7 +1576,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -1611,35 +1611,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1653,7 +1653,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1674,19 +1674,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="5.56774e-06" ixy="3.08362e-08" ixz="9.42153e-07" iyy="5.28838e-06" iyz="-1.58924e-07" izz="1.87579e-06"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1695,14 +1695,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1732,7 +1732,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1748,12 +1748,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1762,7 +1762,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1778,12 +1778,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0011062999999999976 1.730000000001175e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0011062999999999906 1.7299999999997873e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.415987"/>
       <inertia ixx="0.000475741" ixy="2.89355e-07" ixz="-6.72876e-08" iyy="0.000279828" iyz="6.7417e-06" izz="0.000307828"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1792,14 +1792,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
+    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1808,12 +1808,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.00012290000000000217 -0.0002822999999999992 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012289999999999524 -0.00028229999999998534 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="3.27938e-05" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="5.69957e-05" iyz="3.32338e-08" izz="3.26449e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1822,26 +1822,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008301999999999962 7.519999999999749e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008301999999999893 7.519999999998361e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868999999999913 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868999999999982 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1850,7 +1850,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1866,7 +1866,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.051256699999999995 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.05125669999999999 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1880,12 +1880,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.0009997999999999951 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.000999800000000002 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1894,7 +1894,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1910,12 +1910,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015153099999999989 0.0009020000000000139 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.015153099999999996 0.000902 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447429734460005" ixy="-1.1322603878053663e-06" ixz="3.046651057758992e-05" iyy="0.0004478873540695352" iyz="2.5726583414130826e-06" izz="0.0003076030453774591"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1924,7 +1924,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1940,12 +1940,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011446999999999985 3.599999999992498e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0011447000000000054 3.5999999999786203e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.265122"/>
       <inertia ixx="0.000327222" ixy="-4.74606e-08" ixz="4.94571e-08" iyy="0.000248285" iyz="-4.29975e-06" izz="0.000150937"/>
     </inertial>
     <visual>
-      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1954,7 +1954,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1991,7 +1991,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.003500000000000003 0 -0.0605" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.003499999999999996 0 -0.0605" rpy="3.141592653589793 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2658,13 +2658,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2706,13 +2706,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2754,13 +2754,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2778,13 +2778,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2814,13 +2814,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2838,13 +2838,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2862,13 +2862,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -3004,24 +3004,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -3063,13 +3063,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
@@ -3087,178 +3087,178 @@
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07847939999999999 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
+      <pose>0.07847939999999998 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999999 -0.011812200000000009 -0.001214999999999966"/>
+    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999998 -0.011812200000000009 -0.001214999999999966"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012577000000000012 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.012577000000000005 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000012 -0.04040720000000002 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000005 -0.04040720000000002 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012575000000000003 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012574999999999996 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575000000000003 0.04040679999999998 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012574999999999996 0.04040679999999998 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013081000000000016 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.01308100000000001 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000016 -0.04040720000000002 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.01308100000000001 -0.04040720000000002 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013079 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.013078999999999993 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013079 0.04040679999999998 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999993 0.04040679999999998 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.042001689999999994 0.03156479999999999 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
+      <pose>0.04200169 0.03156479999999999 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.042001689999999994 0.03156479999999999 0.04913199999999998"/>
+    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.04200169 0.03156479999999999 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352114999999998 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352114999999999 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999998 0.007765700000000014 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999999 0.007765700000000014 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999998 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053784999999999986 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999998 -0.014429400000000002 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429400000000002 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.03412954999999998 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412954999999999 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999998 -0.0414999 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999999 -0.0414999 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.04378499999999999 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043785 0.017810999999999994 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999999 0.017810999999999994 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378500000000001 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.043785000000000004 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378500000000001 -0.014191800000000011 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785000000000004 -0.014191800000000011 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351379199999999 0.011314499999999963 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.043513791999999996 0.011314499999999963 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351379199999999 0.011314499999999963 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.043513791999999996 0.011314499999999963 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450335399999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.044503353999999995 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450335399999999 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503353999999995 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053133529999999984 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.05313352999999999 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133529999999984 0.017184099999999994 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313352999999999 0.017184099999999994 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
@@ -3276,25 +3276,25 @@
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915199999999996 0.04274479999999997 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.025915200000000003 0.04274479999999997 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915199999999996 0.04274479999999997 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.025915200000000003 0.04274479999999997 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999977 -0.041718700000000025 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
+      <pose>0.018459299999999984 -0.041718700000000025 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999977 -0.041718700000000025 -0.09295800000000004"/>
+    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999984 -0.041718700000000025 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
@@ -3368,45 +3368,45 @@
     <sensor name="l_upper_leg_ft_acc_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_acc_3b12" type="accelerometer">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_hip_2">
     <sensor name="l_upper_leg_ft_gyro_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_gyro_3b12" type="gyroscope">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_acc_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_acc_3b13" type="accelerometer">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_gyro_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_gyro_3b13" type="gyroscope">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
   </sensor>
   <gazebo>
     <pose>0.0 0.0 0.63 0.0 0.0 3.14</pose>
diff --git a/iCub/robots/iCubGazeboV2_5/model.urdf b/iCub/robots/iCubGazeboV2_5/model.urdf
index a2fd141..332206e 100644
--- a/iCub/robots/iCubGazeboV2_5/model.urdf
+++ b/iCub/robots/iCubGazeboV2_5/model.urdf
@@ -23,12 +23,12 @@
   </link>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -37,7 +37,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -199,7 +199,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
+    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -213,7 +213,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
+    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -241,7 +241,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
+    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -269,21 +269,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
+    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
+    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
+    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -318,14 +318,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
+    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
+    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -339,21 +339,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
+    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
+    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
+    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -374,14 +374,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
+    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
+    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -402,7 +402,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
+    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -416,7 +416,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
+    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -511,12 +511,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.033600099999999994 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.03360009999999998 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.382866"/>
       <inertia ixx="0.00120946" ixy="3.74585e-07" ixz="-5.78759e-05" iyy="0.00141439" iyz="-7.80325e-06" izz="0.000273599"/>
     </inertial>
     <visual>
-      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -539,14 +539,14 @@
   </joint>
   <link name="r_sole"/>
   <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.003500000000000003 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
+    <origin xyz="0.003499999999999996 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_0"/>
   <joint name="r_sole_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.060476699999999994 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.06047669999999999 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_0"/>
     <dynamics damping="0.1"/>
@@ -560,14 +560,14 @@
   </joint>
   <link name="r_sole_skin_2"/>
   <joint name="r_sole_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.09320869999999999 -0.032368 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.09320869999999998 -0.032368 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_3"/>
   <joint name="r_sole_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.11158309999999998 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.11158309999999996 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_3"/>
     <dynamics damping="0.1"/>
@@ -609,112 +609,112 @@
   </joint>
   <link name="r_sole_skin_12"/>
   <joint name="r_sole_skin_12_fixed_joint" type="fixed">
-    <origin xyz="0.08286799999999998 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.08286799999999997 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_12"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_13"/>
   <joint name="r_sole_skin_13_fixed_joint" type="fixed">
-    <origin xyz="0.10124239999999998 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.10124239999999997 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_13"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_14"/>
   <joint name="r_sole_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.050136039999999986 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.05013603999999998 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_14"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_15"/>
   <joint name="r_sole_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.04611918999999999 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.046119189999999984 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_17"/>
   <joint name="r_sole_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.02968549999999999 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.029685499999999997 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_18"/>
   <joint name="r_sole_skin_18_fixed_joint" type="fixed">
-    <origin xyz="-0.0480599 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.04805990000000001 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_18"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_19"/>
   <joint name="r_sole_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.052076700000000004 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.05207670000000001 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_20"/>
   <joint name="r_sole_skin_20_fixed_joint" type="fixed">
-    <origin xyz="-0.03771920000000001 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.037719200000000015 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_21"/>
   <joint name="r_sole_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.03577849999999999 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.03577849999999998 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_21"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_22"/>
   <joint name="r_sole_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.027744799999999997 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.02774479999999999 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_22"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_24"/>
   <joint name="r_sole_skin_24_fixed_joint" type="fixed">
-    <origin xyz="-0.004987199999999997 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.004987200000000004 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_24"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_25"/>
   <joint name="r_sole_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.013387200000000002 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.013387199999999995 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_25"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_26"/>
   <joint name="r_sole_skin_26_fixed_joint" type="fixed">
-    <origin xyz="0.017404099999999992 0.0133722 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.017404099999999985 0.0133722 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_26"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_27"/>
   <joint name="r_sole_skin_27_fixed_joint" type="fixed">
-    <origin xyz="0.0030464999999999867 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.0030464999999999798 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_27"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_28"/>
   <joint name="r_sole_skin_28_fixed_joint" type="fixed">
-    <origin xyz="-0.015327899999999992 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.015327899999999998 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_28"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_29"/>
   <joint name="r_sole_skin_29_fixed_joint" type="fixed">
-    <origin xyz="-0.019344799999999995 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.019344800000000002 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_29"/>
     <dynamics damping="0.1"/>
@@ -938,12 +938,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
+      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.01" iyz="1.19785e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -952,15 +952,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
-    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
+    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -989,7 +989,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
+    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -1026,12 +1026,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="0.01" iyz="3.92498e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1040,7 +1040,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1056,7 +1056,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -1077,7 +1077,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -1086,35 +1086,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1135,14 +1135,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -1170,7 +1170,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -1191,35 +1191,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1254,19 +1254,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="0.01" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="0.01" iyz="-1.59685e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1275,14 +1275,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -1312,7 +1312,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -1358,12 +1358,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
+      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.01" iyz="1.20112e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1372,15 +1372,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
-    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
+    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -1409,7 +1409,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
+    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -1446,7 +1446,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="0.01" iyz="3.9319e-06" izz="0.01"/>
     </inertial>
@@ -1476,7 +1476,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -1497,7 +1497,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -1506,35 +1506,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1555,7 +1555,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -1576,7 +1576,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -1611,35 +1611,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1653,7 +1653,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1674,19 +1674,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="0.01" ixy="3.08362e-08" ixz="9.42153e-07" iyy="0.01" iyz="-1.58924e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1695,14 +1695,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1732,7 +1732,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1748,12 +1748,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1762,7 +1762,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1778,12 +1778,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0011062999999999976 1.730000000001175e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0011062999999999906 1.7299999999997873e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.415987"/>
       <inertia ixx="0.000475741" ixy="2.89355e-07" ixz="-6.72876e-08" iyy="0.000279828" iyz="6.7417e-06" izz="0.000307828"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1792,14 +1792,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
+    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1808,12 +1808,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.00012290000000000217 -0.0002822999999999992 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012289999999999524 -0.00028229999999998534 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="0.01" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="0.01" iyz="3.32338e-08" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1822,26 +1822,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008301999999999962 7.519999999999749e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008301999999999893 7.519999999998361e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868999999999913 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868999999999982 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1850,7 +1850,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1866,7 +1866,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.051256699999999995 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.05125669999999999 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1880,12 +1880,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.0009997999999999951 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.000999800000000002 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1894,7 +1894,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1910,12 +1910,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015153099999999989 0.0009020000000000139 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.015153099999999996 0.000902 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447429734460005" ixy="-1.1322603878053663e-06" ixz="3.046651057758992e-05" iyy="0.0004478873540695352" iyz="2.5726583414130826e-06" izz="0.0003076030453774591"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1924,7 +1924,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1940,12 +1940,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011446999999999985 3.599999999992498e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0011447000000000054 3.5999999999786203e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.265122"/>
       <inertia ixx="0.01" ixy="-4.74606e-08" ixz="4.94571e-08" iyy="0.01" iyz="-4.29975e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1954,7 +1954,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1991,7 +1991,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.003500000000000003 0 -0.0605" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.003499999999999996 0 -0.0605" rpy="3.141592653589793 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2658,13 +2658,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2706,13 +2706,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2754,13 +2754,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2778,13 +2778,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2814,13 +2814,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2838,13 +2838,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2862,13 +2862,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -3004,24 +3004,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -3063,13 +3063,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
@@ -3087,178 +3087,178 @@
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07847939999999999 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
+      <pose>0.07847939999999998 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999999 -0.011812200000000009 -0.001214999999999966"/>
+    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999998 -0.011812200000000009 -0.001214999999999966"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012577000000000012 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.012577000000000005 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000012 -0.04040720000000002 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000005 -0.04040720000000002 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012575000000000003 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012574999999999996 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575000000000003 0.04040679999999998 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012574999999999996 0.04040679999999998 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013081000000000016 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.01308100000000001 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000016 -0.04040720000000002 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.01308100000000001 -0.04040720000000002 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013079 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.013078999999999993 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013079 0.04040679999999998 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999993 0.04040679999999998 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.042001689999999994 0.03156479999999999 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
+      <pose>0.04200169 0.03156479999999999 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.042001689999999994 0.03156479999999999 0.04913199999999998"/>
+    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.04200169 0.03156479999999999 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352114999999998 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352114999999999 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999998 0.007765700000000014 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999999 0.007765700000000014 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999998 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053784999999999986 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999998 -0.014429400000000002 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429400000000002 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.03412954999999998 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412954999999999 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999998 -0.0414999 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999999 -0.0414999 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.04378499999999999 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043785 0.017810999999999994 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999999 0.017810999999999994 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378500000000001 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.043785000000000004 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378500000000001 -0.014191800000000011 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785000000000004 -0.014191800000000011 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351379199999999 0.011314499999999963 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.043513791999999996 0.011314499999999963 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
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+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.043513791999999996 0.011314499999999963 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450335399999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.044503353999999995 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450335399999999 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503353999999995 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053133529999999984 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.05313352999999999 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133529999999984 0.017184099999999994 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313352999999999 0.017184099999999994 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
@@ -3276,25 +3276,25 @@
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915199999999996 0.04274479999999997 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.025915200000000003 0.04274479999999997 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915199999999996 0.04274479999999997 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.025915200000000003 0.04274479999999997 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999977 -0.041718700000000025 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
+      <pose>0.018459299999999984 -0.041718700000000025 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999977 -0.041718700000000025 -0.09295800000000004"/>
+    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999984 -0.041718700000000025 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
@@ -3368,45 +3368,45 @@
     <sensor name="l_upper_leg_ft_acc_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_acc_3b12" type="accelerometer">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_hip_2">
     <sensor name="l_upper_leg_ft_gyro_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_gyro_3b12" type="gyroscope">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_acc_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_acc_3b13" type="accelerometer">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_gyro_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_gyro_3b13" type="gyroscope">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
   </sensor>
   <gazebo>
     <pose>0.0 0.0 0.63 0.0 0.0 3.14</pose>
diff --git a/iCub/robots/iCubGazeboV2_5_plus/model.urdf b/iCub/robots/iCubGazeboV2_5_plus/model.urdf
index 9788760..e666461 100644
--- a/iCub/robots/iCubGazeboV2_5_plus/model.urdf
+++ b/iCub/robots/iCubGazeboV2_5_plus/model.urdf
@@ -247,12 +247,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
+      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.01" iyz="1.19785e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -261,15 +261,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
-    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
+    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -298,7 +298,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
+    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -335,12 +335,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="0.01" iyz="3.92498e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -349,7 +349,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -365,7 +365,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -386,7 +386,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -395,35 +395,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -444,14 +444,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -479,7 +479,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -500,35 +500,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -542,7 +542,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -563,19 +563,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="0.01" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="0.01" iyz="-1.59685e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -584,14 +584,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -621,7 +621,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -667,12 +667,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
+      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.01" iyz="1.20112e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -681,15 +681,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
-    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
+    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -718,7 +718,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
+    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -755,7 +755,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="0.01" iyz="3.9319e-06" izz="0.01"/>
     </inertial>
@@ -785,7 +785,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -806,7 +806,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -815,35 +815,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -864,7 +864,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -885,7 +885,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -920,35 +920,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -962,7 +962,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -983,19 +983,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="0.01" ixy="3.08362e-08" ixz="9.42153e-07" iyy="0.01" iyz="-1.58924e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1004,14 +1004,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1041,7 +1041,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1057,12 +1057,12 @@
   </joint>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1071,7 +1071,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.058310299999999995 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
+    <origin xyz="0.058310299999999995 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1247,7 +1247,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208552 0.03044339999999998 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
+    <origin xyz="0.05208552 0.03044339999999998 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -1275,7 +1275,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999999 -0.03117600000000001 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
+    <origin xyz="0.05504769999999999 -0.03117600000000001 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -1303,21 +1303,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.035753400000000005 0.04106279999999999 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
+    <origin xyz="0.035753400000000005 0.04106279999999999 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.023441900000000012 0.04799079999999998 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
+    <origin xyz="0.023441900000000012 0.04799079999999998 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.02427040000000001 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
+    <origin xyz="0.02427040000000001 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -1352,14 +1352,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.047748659999999984 -0.031231999999999996 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
+    <origin xyz="0.047748659999999984 -0.031231999999999996 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322408999999999 -0.01560180000000004 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
+    <origin xyz="0.05322408999999999 -0.01560180000000004 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -1373,21 +1373,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880466999999999 -0.031263 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
+    <origin xyz="0.04880466999999999 -0.031263 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999999 -0.01591290000000002 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
+    <origin xyz="0.05660089999999999 -0.01591290000000002 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.057010599999999995 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
+    <origin xyz="0.057010599999999995 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -1408,14 +1408,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641629999999995 0.01763889999999997 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
+    <origin xyz="0.052641629999999995 0.01763889999999997 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113137 0.032438499999999953 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
+    <origin xyz="0.04113137 0.032438499999999953 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -1436,7 +1436,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998319999999995 0.0012663999999999592 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
+    <origin xyz="0.052998319999999995 0.0012663999999999592 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -1450,7 +1450,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127079999999986 -0.030749000000000026 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
+    <origin xyz="0.045127079999999986 -0.030749000000000026 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -1485,12 +1485,12 @@
   </joint>
   <link name="r_ankle_1">
     <inertial>
-      <origin xyz="0.015143405473968807 -0.0008685000000000082 4.2859082720503316e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.015143405473968821 -0.0008685000000000082 4.2859082720503316e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.6803"/>
       <inertia ixx="0.0004046207392315529" ixy="8.523488844593136e-06" ixz="-2.8913590319053794e-05" iyy="0.0004379396781535379" iyz="3.7330395179426065e-05" izz="0.00031892819418424145"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272424511755 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424511754 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1499,7 +1499,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272424511755 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424511754 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1515,12 +1515,12 @@
   </joint>
   <link name="r_ankle_2">
     <inertial>
-      <origin xyz="0.0011452157753235048 -8.299999999988872e-06 -0.038511854107377785" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.0011452157753235187 -8.299999999988872e-06 -0.038511854107377785" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.265337"/>
       <inertia ixx="0.01" ixy="-7.94989e-08" ixz="8.24551e-09" iyy="0.01" iyz="2.0701e-05" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272442308745 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442308744 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1529,7 +1529,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272442308745 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442308744 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1537,7 +1537,7 @@
   </link>
   <joint name="r_ankle_roll" type="revolute">
     <origin xyz="0 0 0" rpy="0 0 0"/>
-    <axis xyz="-1.0000001561184808 -6.013654019199066e-16 1.197939497389039e-07"/>
+    <axis xyz="-1.0000001561184808 -6.013654019199066e-16 1.1979394973216095e-07"/>
     <parent link="r_ankle_1"/>
     <child link="r_ankle_2"/>
     <limit effort="37.0" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="7.64"/>
@@ -1545,12 +1545,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.039779742643594365 0.004553699994905444 -0.006311816589999797" rpy="-1.832595507822573 0 -1.5707963267948983"/>
+      <origin xyz="0.039779742643594365 0.004553699994905444 -0.006311816589999797" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
       <mass value="0.357881"/>
       <inertia ixx="0.00109611" ixy="-2.9193e-07" ixz="-3.70109e-05" iyy="0.00125706" iyz="5.10952e-06" izz="0.000215359"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.832595507822573 0 -1.5707963267948983"/>
+      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1566,7 +1566,7 @@
     </collision>
   </link>
   <joint name="r_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.0034999280659716164 0 -0.060500343280208146" rpy="3.141592652417863 0 0"/>
+    <origin xyz="-0.0034999280659716026 0 -0.060500343280208146" rpy="3.141592652417863 0 0"/>
     <parent link="r_ankle_2"/>
     <child link="r_foot"/>
     <dynamics damping="0.1"/>
@@ -1580,12 +1580,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1594,7 +1594,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1610,12 +1610,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0015761999999999998 -1.939999999998887e-05 -0.04405299999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0015761999999999929 -1.940000000000275e-05 -0.04405299999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.421106"/>
       <inertia ixx="0.000494284" ixy="1.5483e-07" ixz="-1.86308e-07" iyy="0.000288736" iyz="1.52962e-05" izz="0.000319008"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1624,14 +1624,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
+    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1640,12 +1640,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.0001229999999999981 -0.000282300000000027 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012299999999999117 -0.0002823000000000131 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="0.01" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="0.01" iyz="3.32338e-08" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370899980932098 0.07010000000001013 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.043708999809320984 0.07010000000001014 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1654,26 +1654,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370899980932098 0.07010000000001013 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.043708999809320984 0.07010000000001014 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008575000000000041 0 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008574999999999972 0 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868000000000023 0.00010179999999999911 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868000000000092 0.00010179999999999911 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370899980932098 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043708999809320984 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1682,7 +1682,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370899980932098 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043708999809320984 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1698,7 +1698,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.05125669999999998 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.051256699999999975 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1712,12 +1712,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.0009997000000000061 0.0034968999999999834 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.000999700000000013 0.0034968999999999834 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370899980931698 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980931699 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1726,7 +1726,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370899980931698 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980931699 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1742,12 +1742,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015152971856010333 0.0009021000000000029 4.2316556559285345e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.015152971856010347 0.0009021000000000029 4.2316556559285345e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447618553062084" ixy="-8.97867775831874e-06" ixz="2.9134846047326194e-05" iyy="0.00043720150287133953" iyz="3.730206268073148e-05" izz="0.00031828795462876227"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272424516864 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424516862 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1756,7 +1756,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272424516864 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424516862 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1772,12 +1772,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011452157753235326 -8.299999999974994e-06 -0.038511854107377674" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.0011452157753235465 -8.299999999974994e-06 -0.038511854107377674" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.265337"/>
       <inertia ixx="0.01" ixy="-7.94989e-08" ixz="8.24551e-09" iyy="0.01" iyz="2.0701e-05" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272442313178 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442313177 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1786,7 +1786,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272442313178 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442313177 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1794,7 +1794,7 @@
   </link>
   <joint name="l_ankle_roll" type="revolute">
     <origin xyz="0 0 0" rpy="0 0 0"/>
-    <axis xyz="1.0000001561184808 6.013654019199066e-16 -1.197939497389039e-07"/>
+    <axis xyz="1.0000001561184808 6.013654019199066e-16 -1.1979394973216095e-07"/>
     <parent link="l_ankle_1"/>
     <child link="l_ankle_2"/>
     <limit effort="37.0" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="7.64"/>
@@ -1823,7 +1823,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.0034999280659716164 0 -0.060500343280208146" rpy="-3.141592643239301 0 0"/>
+    <origin xyz="-0.0034999280659716026 0 -0.060500343280208146" rpy="-3.141592643239301 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2315,13 +2315,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2363,13 +2363,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2411,13 +2411,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2435,13 +2435,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2471,13 +2471,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2495,13 +2495,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2519,13 +2519,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -2661,24 +2661,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351373 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04351373 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351373 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351373 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.044503292 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.044503292 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.044503292 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503292 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -2696,13 +2696,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0537517 0.01572289999999999 -0.0043179999999999885 -1.5707962918786202 -1.5706802104434698 -1.221730721500941</pose>
+      <pose>0.0537517 0.01572289999999999 -0.0043179999999999885 -1.5707962918765586 -1.5706802104434696 -1.2217307215014315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707962918786202 -1.5706802104434698 -1.221730721500941" xyz="0.0537517 0.01572289999999999 -0.0043179999999999885"/>
+    <origin rpy="-1.5707962918765586 -1.5706802104434696 -1.2217307215014315" xyz="0.0537517 0.01572289999999999 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b10" type="imu">
@@ -2720,238 +2720,238 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.01648010000000001 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.01648010000000001 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.01648010000000001 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.01648010000000001 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b12" type="accelerometer">
     <parent link="r_foot"/>
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   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
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   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.0125771 -0.040407200000000004 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.012577099999999994 -0.040407200000000004 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.0125771 -0.040407200000000004 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577099999999994 -0.040407200000000004 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012575099999999992 0.040407 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012575099999999985 0.040407 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575099999999992 0.040407 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575099999999985 0.040407 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013081000000000002 -0.040407200000000004 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.013080999999999995 -0.040407200000000004 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000002 -0.040407200000000004 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013080999999999995 -0.040407200000000004 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013078999999999986 0.040407 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.01307899999999998 0.040407 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999986 0.040407 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.01307899999999998 0.040407 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04200163 0.03156500000000001 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
+      <pose>0.042001630000000005 0.03156500000000001 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.04200163 0.03156500000000001 0.04913199999999998"/>
+    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.042001630000000005 0.03156500000000001 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352108999999999 0.007765700000000028 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352109 0.007765700000000028 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352108999999999 0.007765700000000028 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352109 0.007765700000000028 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053785 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053785 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 -0.014429399999999995 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999999 -0.014429399999999995 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429399999999995 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 -0.014429399999999995 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.034129489999999985 -0.041499899999999985 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412948999999999 -0.041499899999999985 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.034129489999999985 -0.041499899999999985 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412948999999999 -0.041499899999999985 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043784999999999984 0.01781110000000001 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.04378499999999998 0.01781110000000001 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043784999999999984 0.01781110000000001 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999998 0.01781110000000001 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785 -0.014191799999999997 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.04378499999999999 -0.014191799999999997 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785 -0.014191799999999997 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378499999999999 -0.014191799999999997 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.043513729999999994 0.011314599999999966 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04351373 0.011314599999999966 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.043513729999999994 0.011314599999999966 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351373 0.011314599999999966 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450329199999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.044503292 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450329199999999 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503292 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053133469999999995 0.017184100000000008 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.05313347 0.017184100000000008 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133469999999995 0.017184100000000008 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313347 0.017184100000000008 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05445179999999999 -0.013799100000000002 -0.0043179999999999885 -1.5707963664504991 -1.5706802104435666 -1.919861927351539</pose>
+      <pose>0.054451799999999995 -0.013799100000000002 -0.0043179999999999885 -1.5707963664504991 -1.5706802104435666 -1.919861927351539</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b9" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707963664504991 -1.5706802104435666 -1.919861927351539" xyz="0.05445179999999999 -0.013799100000000002 -0.0043179999999999885"/>
+    <origin rpy="-1.5707963664504991 -1.5706802104435666 -1.919861927351539" xyz="0.054451799999999995 -0.013799100000000002 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915100000000003 0.042743999999999976 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.02591510000000001 0.042743999999999976 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915100000000003 0.042743999999999976 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.02591510000000001 0.042743999999999976 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999988 -0.04171870000000001 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
+      <pose>0.018459299999999994 -0.04171870000000001 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999988 -0.04171870000000001 -0.09295800000000004"/>
+    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999994 -0.04171870000000001 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
diff --git a/iCub/robots/iCubGazeboV2_6/model.urdf b/iCub/robots/iCubGazeboV2_6/model.urdf
index 4024cab..cdfb5bb 100644
--- a/iCub/robots/iCubGazeboV2_6/model.urdf
+++ b/iCub/robots/iCubGazeboV2_6/model.urdf
@@ -23,12 +23,12 @@
   </link>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -37,7 +37,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -199,7 +199,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
+    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -213,7 +213,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
+    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -241,7 +241,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
+    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -269,21 +269,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
+    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
+    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
+    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -318,14 +318,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
+    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
+    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -339,21 +339,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
+    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
+    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
+    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -374,14 +374,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
+    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
+    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -402,7 +402,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
+    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -416,7 +416,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
+    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -511,12 +511,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.033600099999999994 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.03360009999999998 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.382866"/>
       <inertia ixx="0.00120946" ixy="3.74585e-07" ixz="-5.78759e-05" iyy="0.00141439" iyz="-7.80325e-06" izz="0.000273599"/>
     </inertial>
     <visual>
-      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -539,14 +539,14 @@
   </joint>
   <link name="r_sole"/>
   <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.003500000000000003 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
+    <origin xyz="0.003499999999999996 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_0"/>
   <joint name="r_sole_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.060476699999999994 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.06047669999999999 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_0"/>
     <dynamics damping="0.1"/>
@@ -560,14 +560,14 @@
   </joint>
   <link name="r_sole_skin_2"/>
   <joint name="r_sole_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.09320869999999999 -0.032368 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.09320869999999998 -0.032368 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_3"/>
   <joint name="r_sole_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.11158309999999998 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.11158309999999996 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_3"/>
     <dynamics damping="0.1"/>
@@ -609,112 +609,112 @@
   </joint>
   <link name="r_sole_skin_12"/>
   <joint name="r_sole_skin_12_fixed_joint" type="fixed">
-    <origin xyz="0.08286799999999998 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.08286799999999997 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_12"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_13"/>
   <joint name="r_sole_skin_13_fixed_joint" type="fixed">
-    <origin xyz="0.10124239999999998 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.10124239999999997 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_13"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_14"/>
   <joint name="r_sole_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.050136039999999986 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.05013603999999998 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_14"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_15"/>
   <joint name="r_sole_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.04611918999999999 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.046119189999999984 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_17"/>
   <joint name="r_sole_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.02968549999999999 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.029685499999999997 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_18"/>
   <joint name="r_sole_skin_18_fixed_joint" type="fixed">
-    <origin xyz="-0.0480599 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.04805990000000001 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_18"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_19"/>
   <joint name="r_sole_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.052076700000000004 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.05207670000000001 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_20"/>
   <joint name="r_sole_skin_20_fixed_joint" type="fixed">
-    <origin xyz="-0.03771920000000001 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.037719200000000015 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_21"/>
   <joint name="r_sole_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.03577849999999999 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.03577849999999998 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_21"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_22"/>
   <joint name="r_sole_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.027744799999999997 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.02774479999999999 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_22"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_24"/>
   <joint name="r_sole_skin_24_fixed_joint" type="fixed">
-    <origin xyz="-0.004987199999999997 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.004987200000000004 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_24"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_25"/>
   <joint name="r_sole_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.013387200000000002 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.013387199999999995 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_25"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_26"/>
   <joint name="r_sole_skin_26_fixed_joint" type="fixed">
-    <origin xyz="0.017404099999999992 0.0133722 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.017404099999999985 0.0133722 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_26"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_27"/>
   <joint name="r_sole_skin_27_fixed_joint" type="fixed">
-    <origin xyz="0.0030464999999999867 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.0030464999999999798 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_27"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_28"/>
   <joint name="r_sole_skin_28_fixed_joint" type="fixed">
-    <origin xyz="-0.015327899999999992 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.015327899999999998 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_28"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_29"/>
   <joint name="r_sole_skin_29_fixed_joint" type="fixed">
-    <origin xyz="-0.019344799999999995 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.019344800000000002 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_29"/>
     <dynamics damping="0.1"/>
@@ -938,12 +938,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
+      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.01" iyz="1.19785e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -952,15 +952,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
-    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
+    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -989,7 +989,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
+    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -1026,12 +1026,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="0.01" iyz="3.92498e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1040,7 +1040,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1056,7 +1056,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -1077,7 +1077,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -1086,35 +1086,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1135,14 +1135,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -1170,7 +1170,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -1191,35 +1191,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1254,19 +1254,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="0.01" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="0.01" iyz="-1.59685e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1275,14 +1275,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -1312,7 +1312,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -1358,12 +1358,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
+      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.01" iyz="1.20112e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1372,15 +1372,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
-    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
+    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -1409,7 +1409,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
+    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -1446,7 +1446,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="0.01" iyz="3.9319e-06" izz="0.01"/>
     </inertial>
@@ -1476,7 +1476,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -1497,7 +1497,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -1506,35 +1506,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1555,7 +1555,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -1576,7 +1576,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -1611,35 +1611,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1653,7 +1653,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1674,19 +1674,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="0.01" ixy="3.08362e-08" ixz="9.42153e-07" iyy="0.01" iyz="-1.58924e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1695,14 +1695,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1732,7 +1732,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1748,12 +1748,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1762,7 +1762,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1778,12 +1778,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0011062999999999976 1.730000000001175e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0011062999999999906 1.7299999999997873e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.415987"/>
       <inertia ixx="0.000475741" ixy="2.89355e-07" ixz="-6.72876e-08" iyy="0.000279828" iyz="6.7417e-06" izz="0.000307828"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1792,14 +1792,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
+    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1808,12 +1808,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.00012290000000000217 -0.0002822999999999992 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012289999999999524 -0.00028229999999998534 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="0.01" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="0.01" iyz="3.32338e-08" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1822,26 +1822,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008301999999999962 7.519999999999749e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008301999999999893 7.519999999998361e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868999999999913 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868999999999982 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1850,7 +1850,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1866,7 +1866,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.051256699999999995 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.05125669999999999 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1880,12 +1880,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.0009997999999999951 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.000999800000000002 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1894,7 +1894,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1910,12 +1910,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015153099999999989 0.0009020000000000139 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.015153099999999996 0.000902 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447429734460005" ixy="-1.1322603878053663e-06" ixz="3.046651057758992e-05" iyy="0.0004478873540695352" iyz="2.5726583414130826e-06" izz="0.0003076030453774591"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1924,7 +1924,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1940,12 +1940,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011446999999999985 3.599999999992498e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0011447000000000054 3.5999999999786203e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.265122"/>
       <inertia ixx="0.01" ixy="-4.74606e-08" ixz="4.94571e-08" iyy="0.01" iyz="-4.29975e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1954,7 +1954,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1991,7 +1991,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.003500000000000003 0 -0.0605" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.003499999999999996 0 -0.0605" rpy="3.141592653589793 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2658,13 +2658,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2706,13 +2706,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2754,13 +2754,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2778,13 +2778,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2814,13 +2814,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2838,13 +2838,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2862,13 +2862,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -3004,24 +3004,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -3063,13 +3063,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
@@ -3087,178 +3087,178 @@
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07847939999999999 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
+      <pose>0.07847939999999998 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999999 -0.011812200000000009 -0.001214999999999966"/>
+    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999998 -0.011812200000000009 -0.001214999999999966"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012577000000000012 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.012577000000000005 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000012 -0.04040720000000002 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000005 -0.04040720000000002 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012575000000000003 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012574999999999996 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575000000000003 0.04040679999999998 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012574999999999996 0.04040679999999998 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013081000000000016 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.01308100000000001 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000016 -0.04040720000000002 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.01308100000000001 -0.04040720000000002 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013079 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.013078999999999993 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013079 0.04040679999999998 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999993 0.04040679999999998 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.042001689999999994 0.03156479999999999 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
+      <pose>0.04200169 0.03156479999999999 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.042001689999999994 0.03156479999999999 0.04913199999999998"/>
+    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.04200169 0.03156479999999999 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352114999999998 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352114999999999 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999998 0.007765700000000014 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999999 0.007765700000000014 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999998 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053784999999999986 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999998 -0.014429400000000002 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429400000000002 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.03412954999999998 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412954999999999 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999998 -0.0414999 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999999 -0.0414999 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.04378499999999999 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043785 0.017810999999999994 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999999 0.017810999999999994 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378500000000001 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.043785000000000004 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378500000000001 -0.014191800000000011 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785000000000004 -0.014191800000000011 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351379199999999 0.011314499999999963 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.043513791999999996 0.011314499999999963 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351379199999999 0.011314499999999963 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.043513791999999996 0.011314499999999963 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450335399999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.044503353999999995 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450335399999999 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503353999999995 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053133529999999984 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.05313352999999999 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133529999999984 0.017184099999999994 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313352999999999 0.017184099999999994 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
@@ -3276,25 +3276,25 @@
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915199999999996 0.04274479999999997 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.025915200000000003 0.04274479999999997 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915199999999996 0.04274479999999997 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.025915200000000003 0.04274479999999997 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999977 -0.041718700000000025 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
+      <pose>0.018459299999999984 -0.041718700000000025 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999977 -0.041718700000000025 -0.09295800000000004"/>
+    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999984 -0.041718700000000025 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
@@ -3368,45 +3368,45 @@
     <sensor name="l_upper_leg_ft_acc_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_acc_3b12" type="accelerometer">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_hip_2">
     <sensor name="l_upper_leg_ft_gyro_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_gyro_3b12" type="gyroscope">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_acc_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_acc_3b13" type="accelerometer">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_gyro_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_gyro_3b13" type="gyroscope">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
   </sensor>
   <gazebo>
     <pose>0.0 0.0 0.63 0.0 0.0 3.14</pose>
diff --git a/iCub/robots/iCubGazeboV2_7/model.urdf b/iCub/robots/iCubGazeboV2_7/model.urdf
index 3dba975..5d055d0 100644
--- a/iCub/robots/iCubGazeboV2_7/model.urdf
+++ b/iCub/robots/iCubGazeboV2_7/model.urdf
@@ -23,12 +23,12 @@
   </link>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -37,7 +37,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -199,7 +199,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
+    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -213,7 +213,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
+    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -241,7 +241,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
+    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -269,21 +269,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
+    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
+    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
+    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -318,14 +318,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
+    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
+    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -339,21 +339,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
+    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
+    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
+    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -374,14 +374,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
+    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
+    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -402,7 +402,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
+    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -416,7 +416,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
+    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -511,12 +511,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.033600099999999994 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.03360009999999998 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.382866"/>
       <inertia ixx="0.00120946" ixy="3.74585e-07" ixz="-5.78759e-05" iyy="0.00141439" iyz="-7.80325e-06" izz="0.000273599"/>
     </inertial>
     <visual>
-      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -539,14 +539,14 @@
   </joint>
   <link name="r_sole"/>
   <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.003500000000000003 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
+    <origin xyz="0.003499999999999996 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_0"/>
   <joint name="r_sole_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.060476699999999994 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.06047669999999999 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_0"/>
     <dynamics damping="0.1"/>
@@ -560,14 +560,14 @@
   </joint>
   <link name="r_sole_skin_2"/>
   <joint name="r_sole_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.09320869999999999 -0.032368 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.09320869999999998 -0.032368 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_3"/>
   <joint name="r_sole_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.11158309999999998 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.11158309999999996 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_3"/>
     <dynamics damping="0.1"/>
@@ -609,112 +609,112 @@
   </joint>
   <link name="r_sole_skin_12"/>
   <joint name="r_sole_skin_12_fixed_joint" type="fixed">
-    <origin xyz="0.08286799999999998 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.08286799999999997 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_12"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_13"/>
   <joint name="r_sole_skin_13_fixed_joint" type="fixed">
-    <origin xyz="0.10124239999999998 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.10124239999999997 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_13"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_14"/>
   <joint name="r_sole_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.050136039999999986 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.05013603999999998 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_14"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_15"/>
   <joint name="r_sole_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.04611918999999999 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.046119189999999984 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_17"/>
   <joint name="r_sole_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.02968549999999999 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.029685499999999997 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_18"/>
   <joint name="r_sole_skin_18_fixed_joint" type="fixed">
-    <origin xyz="-0.0480599 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.04805990000000001 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_18"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_19"/>
   <joint name="r_sole_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.052076700000000004 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.05207670000000001 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_20"/>
   <joint name="r_sole_skin_20_fixed_joint" type="fixed">
-    <origin xyz="-0.03771920000000001 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.037719200000000015 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_21"/>
   <joint name="r_sole_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.03577849999999999 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.03577849999999998 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_21"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_22"/>
   <joint name="r_sole_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.027744799999999997 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.02774479999999999 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_22"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_24"/>
   <joint name="r_sole_skin_24_fixed_joint" type="fixed">
-    <origin xyz="-0.004987199999999997 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.004987200000000004 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_24"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_25"/>
   <joint name="r_sole_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.013387200000000002 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.013387199999999995 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_25"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_26"/>
   <joint name="r_sole_skin_26_fixed_joint" type="fixed">
-    <origin xyz="0.017404099999999992 0.0133722 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.017404099999999985 0.0133722 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_26"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_27"/>
   <joint name="r_sole_skin_27_fixed_joint" type="fixed">
-    <origin xyz="0.0030464999999999867 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.0030464999999999798 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_27"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_28"/>
   <joint name="r_sole_skin_28_fixed_joint" type="fixed">
-    <origin xyz="-0.015327899999999992 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.015327899999999998 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_28"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_29"/>
   <joint name="r_sole_skin_29_fixed_joint" type="fixed">
-    <origin xyz="-0.019344799999999995 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.019344800000000002 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_29"/>
     <dynamics damping="0.1"/>
@@ -938,12 +938,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
+      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.01" iyz="1.19785e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -952,15 +952,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
-    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
+    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -989,7 +989,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
+    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -1026,12 +1026,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="0.01" iyz="3.92498e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1040,7 +1040,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1056,7 +1056,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -1077,7 +1077,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -1086,35 +1086,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1135,14 +1135,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -1170,7 +1170,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -1191,35 +1191,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1254,19 +1254,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="0.01" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="0.01" iyz="-1.59685e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1275,14 +1275,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -1312,7 +1312,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -1358,12 +1358,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
+      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.01" iyz="1.20112e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1372,15 +1372,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
-    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
+    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -1409,7 +1409,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
+    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -1446,7 +1446,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="0.01" iyz="3.9319e-06" izz="0.01"/>
     </inertial>
@@ -1476,7 +1476,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -1497,7 +1497,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -1506,35 +1506,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1555,7 +1555,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -1576,7 +1576,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -1611,35 +1611,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1653,7 +1653,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1674,19 +1674,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="0.01" ixy="3.08362e-08" ixz="9.42153e-07" iyy="0.01" iyz="-1.58924e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1695,14 +1695,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1732,7 +1732,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1748,12 +1748,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1762,7 +1762,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1778,12 +1778,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0011062999999999976 1.730000000001175e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0011062999999999906 1.7299999999997873e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.415987"/>
       <inertia ixx="0.000475741" ixy="2.89355e-07" ixz="-6.72876e-08" iyy="0.000279828" iyz="6.7417e-06" izz="0.000307828"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1792,14 +1792,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
+    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1808,12 +1808,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.00012290000000000217 -0.0002822999999999992 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012289999999999524 -0.00028229999999998534 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="0.01" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="0.01" iyz="3.32338e-08" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1822,26 +1822,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008301999999999962 7.519999999999749e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008301999999999893 7.519999999998361e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868999999999913 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868999999999982 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1850,7 +1850,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1866,7 +1866,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.051256699999999995 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.05125669999999999 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1880,12 +1880,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.0009997999999999951 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.000999800000000002 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1894,7 +1894,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1910,12 +1910,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015153099999999989 0.0009020000000000139 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.015153099999999996 0.000902 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447429734460005" ixy="-1.1322603878053663e-06" ixz="3.046651057758992e-05" iyy="0.0004478873540695352" iyz="2.5726583414130826e-06" izz="0.0003076030453774591"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1924,7 +1924,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1940,12 +1940,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011446999999999985 3.599999999992498e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0011447000000000054 3.5999999999786203e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.265122"/>
       <inertia ixx="0.01" ixy="-4.74606e-08" ixz="4.94571e-08" iyy="0.01" iyz="-4.29975e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1954,7 +1954,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1991,7 +1991,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.003500000000000003 0 -0.0605" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.003499999999999996 0 -0.0605" rpy="3.141592653589793 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2674,13 +2674,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2722,13 +2722,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2770,13 +2770,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2794,13 +2794,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2830,13 +2830,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2854,13 +2854,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2878,13 +2878,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -3020,24 +3020,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -3079,13 +3079,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
@@ -3103,178 +3103,178 @@
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07847939999999999 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
+      <pose>0.07847939999999998 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999999 -0.011812200000000009 -0.001214999999999966"/>
+    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999998 -0.011812200000000009 -0.001214999999999966"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012577000000000012 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.012577000000000005 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000012 -0.04040720000000002 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000005 -0.04040720000000002 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012575000000000003 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012574999999999996 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575000000000003 0.04040679999999998 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012574999999999996 0.04040679999999998 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013081000000000016 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.01308100000000001 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000016 -0.04040720000000002 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.01308100000000001 -0.04040720000000002 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013079 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.013078999999999993 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013079 0.04040679999999998 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999993 0.04040679999999998 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.042001689999999994 0.03156479999999999 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
+      <pose>0.04200169 0.03156479999999999 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.042001689999999994 0.03156479999999999 0.04913199999999998"/>
+    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.04200169 0.03156479999999999 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352114999999998 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352114999999999 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999998 0.007765700000000014 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999999 0.007765700000000014 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999998 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053784999999999986 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999998 -0.014429400000000002 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429400000000002 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.03412954999999998 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412954999999999 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999998 -0.0414999 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999999 -0.0414999 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.04378499999999999 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043785 0.017810999999999994 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999999 0.017810999999999994 -0.02641099999999999"/>
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   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378500000000001 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.043785000000000004 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378500000000001 -0.014191800000000011 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785000000000004 -0.014191800000000011 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351379199999999 0.011314499999999963 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.043513791999999996 0.011314499999999963 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
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+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.043513791999999996 0.011314499999999963 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450335399999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
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     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
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+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503353999999995 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053133529999999984 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.05313352999999999 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133529999999984 0.017184099999999994 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313352999999999 0.017184099999999994 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
@@ -3292,25 +3292,25 @@
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915199999999996 0.04274479999999997 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.025915200000000003 0.04274479999999997 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915199999999996 0.04274479999999997 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.025915200000000003 0.04274479999999997 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999977 -0.041718700000000025 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
+      <pose>0.018459299999999984 -0.041718700000000025 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999977 -0.041718700000000025 -0.09295800000000004"/>
+    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999984 -0.041718700000000025 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
@@ -3384,45 +3384,45 @@
     <sensor name="l_upper_leg_ft_acc_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_acc_3b12" type="accelerometer">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_hip_2">
     <sensor name="l_upper_leg_ft_gyro_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_gyro_3b12" type="gyroscope">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_acc_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_acc_3b13" type="accelerometer">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_gyro_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_gyro_3b13" type="gyroscope">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
   </sensor>
   <gazebo>
     <pose>0.0 0.0 0.63 0.0 0.0 3.14</pose>
diff --git a/iCub/robots/iCubGazeboV3/model.urdf b/iCub/robots/iCubGazeboV3/model.urdf
index 234a64e..d2a42a8 100644
--- a/iCub/robots/iCubGazeboV3/model.urdf
+++ b/iCub/robots/iCubGazeboV3/model.urdf
@@ -398,12 +398,12 @@
   </joint>
   <link name="l_shoulder_1">
     <inertial>
-      <origin xyz="0.0002918276617865645 0.05723090680782866 0.0005026028232598678" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
+      <origin xyz="0.0002918276617865645 0.05723090680782866 0.0005026028232598713" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
       <mass value="1.45562"/>
       <inertia ixx="0.01" ixy="0.000611891" ixz="0.000565594" iyy="0.01" iyz="-0.000159546" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.030411223823216205 -0.02914047750374663 0.019095766539677893" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
+      <origin xyz="0.030411223823216205 -0.02914047750374663 0.019095766539677896" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -412,7 +412,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.030411223823216205 -0.02914047750374663 0.019095766539677893" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
+      <origin xyz="0.030411223823216205 -0.02914047750374663 0.019095766539677896" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -420,7 +420,7 @@
   </link>
   <joint name="l_shoulder_pitch" type="revolute">
     <origin xyz="-0.020835100000000002 0.0397423 0.1052029" rpy="0.25326162380993705 -1.1977334179319483e-07 -0.26179930184968747"/>
-    <axis xyz="3.323079797554136e-07 0.9999999783534342 1.4452224303420037e-07"/>
+    <axis xyz="3.323079797673039e-07 0.9999999783534342 1.4452224303407313e-07"/>
     <parent link="chest"/>
     <child link="l_shoulder_1"/>
     <limit effort="50000" lower="-1.53588974175501" upper="0.22689280275926285" velocity="120.0"/>
@@ -428,12 +428,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.003293362025486902 0.0002563804707528261 -0.027865685757097337" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="0.0032933620254868984 0.0002563804707528261 -0.027865685757097337" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <mass value="0.322126"/>
       <inertia ixx="0.01" ixy="-3.5032e-05" ixz="-2.4436e-05" iyy="0.01" iyz="-5.52877e-05" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.026393097869193385 -0.14153112610649207 -0.007252397644602134" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="0.026393097869193412 -0.14153112610649204 -0.007252397644602138" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -442,15 +442,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.026393097869193385 -0.14153112610649207 -0.007252397644602134" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="0.026393097869193412 -0.14153112610649204 -0.007252397644602138" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="0.004992849331690818 0.111499838456099 0.00026865022773668243" rpy="-0.17453296140985003 -0.05374759931933849 0"/>
-    <axis xyz="0.9999998262417685 2.0348252625938444e-07 -4.023022846062156e-08"/>
+    <origin xyz="0.004992849331690818 0.111499838456099 0.0002686502277366859" rpy="-0.17453296140985 -0.05374759931933852 0"/>
+    <axis xyz="0.9999998262417684 2.0348252649342313e-07 -4.0230228454118944e-08"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.20943951023931956" upper="2.792526803190927" velocity="120.0"/>
@@ -458,12 +458,12 @@
   </joint>
   <link name="l_shoulder_3">
     <inertial>
-      <origin xyz="-4.416264022005789e-06 9.587749727052453e-05 -0.007326213473011087" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="-4.41626402200232e-06 9.587749727052453e-05 -0.007326213473011087" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <mass value="0.256128"/>
       <inertia ixx="0.01" ixy="-3.76336e-07" ixz="2.93189e-06" iyy="0.01" iyz="-3.52325e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.030743231026171717 -0.14153148936381543 0.04704764107945959" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="0.03074323102617175 -0.14153148936381543 0.047047641079459586" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -472,26 +472,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.030743231026171717 -0.14153148936381543 0.04704764107945959" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="0.03074323102617175 -0.14153148936381543 0.047047641079459586" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_arm_ft_sensor" type="fixed">
-    <origin xyz="-0.004350133156978318 3.632573233602887e-07 -0.05430003872406172" rpy="0 0 0"/>
+    <origin xyz="-0.004350133156978329 3.632573233880443e-07 -0.05430003872406172" rpy="0 0 0"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_arm">
     <inertial>
-      <origin xyz="-4.828549686676509e-06 0.0019434824578758204 -0.04747357946817407" rpy="-0.06212860830092193 0.0714268908124578 0.27099931149673545"/>
+      <origin xyz="-4.828549686676509e-06 0.0019434824578757927 -0.04747357946817407" rpy="-0.062128608300921935 0.07142689081245782 0.27099931149673573"/>
       <mass value="2.06334"/>
       <inertia ixx="0.00368146" ixy="-5.03894e-06" ixz="0.000261155" iyy="0.00382639" iyz="0.000205684" izz="0.00167002"/>
     </inertial>
     <visual>
-      <origin xyz="0.030743149468679207 -0.14153106591133105 0.06954758245258398" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="0.030743149468679242 -0.14153106591133105 0.06954758245258398" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -500,15 +500,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.030743149468679207 -0.14153106591133105 0.06954758245258398" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="0.030743149468679242 -0.14153106591133105 0.06954758245258398" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0 -4.2345248449371375e-07 -0.022499941373124423" rpy="0 0 0"/>
-    <axis xyz="2.2276474049102235e-08 -4.393786247302041e-08 -1.0000002566182309"/>
+    <origin xyz="0 -4.2345248449371375e-07 -0.02249994137312443" rpy="0 0 0"/>
+    <axis xyz="2.227647404040578e-08 -4.393786245948661e-08 -1.0000002566182309"/>
     <parent link="l_shoulder_3"/>
     <child link="l_upper_arm"/>
     <limit effort="50000" lower="-0.8726646259971648" upper="1.3962634015954636" velocity="120.0"/>
@@ -516,12 +516,12 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="-0.010241946078109288 0.0018224069895867168 -0.015089620258555453" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="-0.010241946078109292 0.0018224069895867168 -0.01508962025855548" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <mass value="0.230254"/>
       <inertia ixx="0.01" ixy="7.51175e-07" ixz="-9.8725e-06" iyy="0.01" iyz="-1.03338e-05" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.02074321923375979 -0.14003141848790218 0.19324791999016774" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="0.02074321923375982 -0.14003141848790218 0.19324791999016772" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_elbow_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -530,7 +530,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.02074321923375979 -0.14003141848790218 0.19324791999016774" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="0.02074321923375982 -0.14003141848790218 0.19324791999016772" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_elbow_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -538,7 +538,7 @@
   </link>
   <joint name="l_elbow" type="revolute">
     <origin xyz="0.009999930234919404 -0.001499647423428896 -0.12370033753758375" rpy="0 0 0"/>
-    <axis xyz="-8.811824174789715e-08 -1.0000002733514628 4.404736120498342e-08"/>
+    <axis xyz="-8.811824154381087e-08 -1.0000002733514628 4.4047361189014644e-08"/>
     <parent link="l_upper_arm"/>
     <child link="l_elbow_1"/>
     <limit effort="50000" lower="-0.05235987755982989" upper="1.3089969389957472" velocity="120.0"/>
@@ -546,12 +546,12 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="-0.0062698741022980675 -4.68551245806359e-05 -0.030648347755607208" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="-0.006269874102298061 -4.68551245806359e-05 -0.030648347755607153" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <mass value="0.90793"/>
       <inertia ixx="0.00131822" ixy="-7.39737e-07" ixz="-2.69292e-05" iyy="0.00128448" iyz="0.000108551" izz="0.000646975"/>
     </inertial>
     <visual>
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+      <origin xyz="0.03574308988793752 -0.14203106199153712 0.24854798357264754" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_forearm_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -560,15 +560,15 @@
       </material>
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       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_forearm_prt.stl" scale="0.001 0.001 0.001"/>
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     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="-0.0149998706541777 0.0019996435036348514 -0.0553000635824798" rpy="0 0 0"/>
-    <axis xyz="2.2276474049102235e-08 -4.393786247302041e-08 -1.0000002566182309"/>
+    <origin xyz="-0.014999870654177704 0.0019996435036348514 -0.055300063582479825" rpy="0 0 0"/>
+    <axis xyz="2.227647404040578e-08 -4.393786245948661e-08 -1.0000002566182309"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
     <limit effort="50000" lower="-1.53588974175501" upper="1.53588974175501" velocity="120.0"/>
@@ -576,12 +576,12 @@
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.014390150453737368 -0.0005083960996520864 -9.893035257668714e-05" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="-0.014390150453737368 -0.0005083960996520587 -9.893035257668714e-05" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
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       <inertia ixx="0.01" ixy="-9.19776e-07" ixz="-1.4756e-08" iyy="0.01" iyz="-1.11493e-07" izz="0.01"/>
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     <visual>
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+      <origin xyz="0.019143073953651363 -0.14403795720960977 0.3560476247151885" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -590,15 +590,15 @@
       </material>
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       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
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   <joint name="l_wrist_pitch" type="revolute">
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-    <axis xyz="-0.9999998262417685 -2.0348252625938444e-07 4.023022846062156e-08"/>
+    <origin xyz="0.016600015934286182 0.002006895218072541 -0.10749964114254112" rpy="0 0 0"/>
+    <axis xyz="-0.9999998262417684 -2.0348252649342313e-07 4.0230228454118944e-08"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
     <limit effort="50000" lower="-1.2217304763960306" upper="0.4363323129985824" velocity="120.0"/>
@@ -606,12 +606,12 @@
   </joint>
   <link name="l_hand">
     <inertial>
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+      <origin xyz="0.004786523181334722 -0.0061337378723908265 -0.0672770617484692" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
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+      <origin xyz="0.03544319569838081 -0.13703856452803848 0.35604770325391955" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_hand_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -620,15 +620,15 @@
       </material>
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       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_hand_prt.stl" scale="0.001 0.001 0.001"/>
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   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.016300121744729387 -0.006999392681571209 0" rpy="0 0 0"/>
-    <axis xyz="8.811824174789715e-08 1.0000002733514628 -4.404736120498342e-08"/>
+    <origin xyz="-0.016300121744729387 -0.0069993926815711816 0" rpy="0 0 0"/>
+    <axis xyz="8.811824154381087e-08 1.0000002733514628 -4.4047361189014644e-08"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
     <limit effort="50000" lower="-0.2617993877991494" upper="0.6108652381980153" velocity="120.0"/>
@@ -658,7 +658,7 @@
   </link>
   <joint name="r_shoulder_pitch" type="revolute">
     <origin xyz="-0.020835100000000002 -0.0397423 0.1052029" rpy="-0.25326164431680925 2.3014774394592079e-07 0.26179970938509745"/>
-    <axis xyz="1.499044390098182e-07 0.9999999783534812 -1.2401537036323317e-07"/>
+    <axis xyz="1.499044390054707e-07 0.9999999783534812 -1.2401537036188515e-07"/>
     <parent link="chest"/>
     <child link="r_shoulder_1"/>
     <limit effort="50000" lower="-1.53588974175501" upper="0.22689280275926285" velocity="120.0"/>
@@ -666,12 +666,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="0.000711844151437005 -0.00028997131506725005 -0.027865575116629175" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.0007118441514370015 -0.0002899713150672778 -0.027865575116629175" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
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+      <origin xyz="0.023893261066846316 0.14153171676199236 -0.007252350207672715" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -680,15 +680,15 @@
       </material>
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+      <origin xyz="0.023893261066846316 0.14153171676199236 -0.007252350207672715" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
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   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="0.007489008185044645 -0.11150041046657978 0.0004027858966975245" rpy="0.17453306234069352 -0.05374779257913059 -6.132332688804098e-07"/>
-    <axis xyz="-0.9999998262417886 4.210501434612913e-08 2.4630481182686846e-08"/>
+    <origin xyz="0.007489008185044645 -0.11150041046657978 0.0004027858966975245" rpy="0.17453306234069357 -0.053747792579130614 -6.132332688812785e-07"/>
+    <axis xyz="-0.9999998262417886 4.2105014356162707e-08 2.4630481189336084e-08"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.20943951023931956" upper="2.792526803190927" velocity="120.0"/>
@@ -696,12 +696,12 @@
   </joint>
   <link name="r_shoulder_3">
     <inertial>
-      <origin xyz="-8.928496484206933e-05 -3.376971940446949e-05 -0.007594500252887257" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="-8.928496484206933e-05 -3.376971940446949e-05 -0.00759450025288725" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
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+      <origin xyz="0.030743207452236198 0.1415314977120318 0.04704763137021829" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -710,26 +710,26 @@
       </material>
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+      <origin xyz="0.030743207452236198 0.1415314977120318 0.04704763137021829" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
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   </link>
   <joint name="r_arm_ft_sensor" type="fixed">
-    <origin xyz="-0.006849946385389872 2.1904996058697002e-07 -0.05429998157789099" rpy="0 0 0"/>
+    <origin xyz="-0.006849946385389875 2.1904996055921444e-07 -0.05429998157789099" rpy="0 0 0"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_upper_arm">
     <inertial>
-      <origin xyz="-4.827495476422694e-06 -0.001943485876269635 -0.04747357932833829" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="-4.8274954764261635e-06 -0.001943485876269635 -0.04747357932833829" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -738,15 +738,15 @@
       </material>
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-      <origin xyz="0.03074312554381852 0.141531075879301 0.06954757274337188" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.030743125543818518 0.141531075879301 0.06954757274337188" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
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   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="0 4.2183273077367467e-07 -0.02249994137315358" rpy="0 0 0"/>
-    <axis xyz="-3.787621790776764e-08 2.805197706023475e-08 1.0000002566182309"/>
+    <origin xyz="0 4.2183273077367467e-07 -0.022499941373153573" rpy="0 0 0"/>
+    <axis xyz="-3.787621790513063e-08 2.805197706068352e-08 1.0000002566182309"/>
     <parent link="r_shoulder_3"/>
     <child link="r_upper_arm"/>
     <limit effort="50000" lower="-0.8726646259971648" upper="1.3962634015954636" velocity="120.0"/>
@@ -754,12 +754,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.011624818009452066 -0.0018028159470199479 0.022300137248866647" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="-0.011624818009452066 -0.00180281594701992 0.022300137248866647" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
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+      <origin xyz="0.020743193621214673 0.14003143574727359 0.19324791023291824" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_elbow_1_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -768,15 +768,15 @@
       </material>
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+      <origin xyz="0.020743193621214673 0.14003143574727359 0.19324791023291824" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_elbow_1_prt.stl" scale="0.001 0.001 0.001"/>
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   </link>
   <joint name="r_elbow" type="revolute">
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-    <axis xyz="2.4949582807394525e-07 -1.0000002733514362 2.7942487010105877e-08"/>
+    <origin xyz="0.009999931922603816 0.0014996401320274133 -0.1237003374895465" rpy="0 0 0"/>
+    <axis xyz="2.4949582809984105e-07 -1.0000002733514362 2.7942487004772865e-08"/>
     <parent link="r_upper_arm"/>
     <child link="r_elbow_1"/>
     <limit effort="50000" lower="-0.05235987755982989" upper="1.3089969389957472" velocity="120.0"/>
@@ -805,8 +805,8 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.014999869468812953 -0.0019996499053189787 -0.05530006367251966" rpy="0 0 0"/>
-    <axis xyz="-3.787621790776764e-08 2.805197706023475e-08 1.0000002566182309"/>
+    <origin xyz="-0.014999869468812953 -0.001999649905318951 -0.05530006367251966" rpy="0 0 0"/>
+    <axis xyz="-3.787621790513063e-08 2.805197706068352e-08 1.0000002566182309"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
     <limit effort="50000" lower="-1.53588974175501" upper="1.53588974175501" velocity="120.0"/>
@@ -814,12 +814,12 @@
   </joint>
   <link name="r_wrist_1">
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-      <origin xyz="-0.014389827079018234 0.0005092753390521787 -9.78731576423697e-05" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="-0.014389827079018234 0.0005092753390522065 -9.787315764231419e-05" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
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+      <origin xyz="0.019443109736078983 0.1440385285434042 0.35604805361754455" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -828,7 +828,7 @@
       </material>
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-      <origin xyz="0.019443109736078983 0.14403852854340418 0.3560480536175445" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.019443109736078983 0.1440385285434042 0.35604805361754455" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -836,7 +836,7 @@
   </link>
   <joint name="r_wrist_pitch" type="revolute">
     <origin xyz="0.016299953353948633 -0.002007442890811839 -0.10750007971210637" rpy="0 0 0"/>
-    <axis xyz="0.9999998262417886 -4.210501434612913e-08 -2.4630481182686846e-08"/>
+    <axis xyz="0.9999998262417886 -4.2105014356162707e-08 -2.4630481189336084e-08"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
     <limit effort="50000" lower="-1.2217304763960306" upper="0.4363323129985824" velocity="120.0"/>
@@ -844,12 +844,12 @@
   </joint>
   <link name="r_hand">
     <inertial>
-      <origin xyz="0.004828314385249669 0.00615667237451184 -0.0671378028889843" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.004828314385249662 0.00615667237451184 -0.0671378028889843" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <mass value="0.264229"/>
       <inertia ixx="0.01" ixy="4.7873e-05" ixz="1.1114e-05" iyy="0.01" iyz="1.14469e-05" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.03574323261035172 0.1370391384923124 0.35604813291443793" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.03574323261035171 0.1370391384923124 0.35604813291443793" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_hand_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -858,15 +858,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.03574323261035172 0.1370391384923124 0.35604813291443793" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.03574323261035171 0.1370391384923124 0.35604813291443793" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_hand_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="continuous">
-    <origin xyz="-0.016300122874272734 0.006999390051091792 0" rpy="0 0 0"/>
-    <axis xyz="-2.4949582807394525e-07 1.0000002733514362 -2.7942487010105877e-08"/>
+    <origin xyz="-0.016300122874272734 0.0069993900510918194 0" rpy="0 0 0"/>
+    <axis xyz="-2.4949582809984105e-07 1.0000002733514362 -2.7942487004772865e-08"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
     <dynamics damping="0.1"/>
@@ -1524,7 +1524,7 @@
         <frame>sensor</frame>
         <measure_direction>child_to_parent</measure_direction>
       </force_torque>
-      <pose>-0.004350133156978318 3.632573233602887e-07 -0.05430003872406172 3.141592646862139 -3.10468332187885e-08 -1.5707962571980942</pose>
+      <pose>-0.004350133156978329 3.632573233880443e-07 -0.05430003872406172 3.141592646862139 -3.104683320142575e-08 -1.5707962571980942</pose>
       <plugin name="left_arm_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
   <yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_left_arm_ft.ini</yarpConfigurationFile>
 </plugin>
@@ -1536,7 +1536,7 @@
       <frame>sensor</frame>
       <measure_direction>child_to_parent</measure_direction>
     </force_torque>
-    <origin rpy="3.141592646862139 -3.10468332187885e-08 -1.5707962571980942" xyz="-0.004350133156978318 3.632573233602887e-07 -0.05430003872406172"/>
+    <origin rpy="3.141592646862139 -3.104683320142575e-08 -1.5707962571980942" xyz="-0.004350133156978329 3.632573233880443e-07 -0.05430003872406172"/>
   </sensor>
   <gazebo reference="r_arm_ft_sensor">
     <sensor name="r_arm_ft_sensor" type="force_torque">
@@ -1546,7 +1546,7 @@
         <frame>sensor</frame>
         <measure_direction>child_to_parent</measure_direction>
       </force_torque>
-      <pose>-0.006849946385389872 2.1904996058697002e-07 -0.05429998157789099 3.141592644717707 4.094299285979593e-08 1.5707964185756365</pose>
+      <pose>-0.006849946385389875 2.1904996055921444e-07 -0.05429998157789099 3.141592644717707 4.094299285979593e-08 1.5707964185756365</pose>
       <plugin name="right_arm_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
   <yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_right_arm_ft.ini</yarpConfigurationFile>
 </plugin>
@@ -1558,29 +1558,7 @@
       <frame>sensor</frame>
       <measure_direction>child_to_parent</measure_direction>
     </force_torque>
-    <origin rpy="3.141592644717707 4.094299285979593e-08 1.5707964185756365" xyz="-0.006849946385389872 2.1904996058697002e-07 -0.05429998157789099"/>
-  </sensor>
-  <gazebo reference="l_leg_ft_sensor">
-    <sensor name="l_leg_ft_sensor" type="force_torque">
-      <always_on>1</always_on>
-      <update_rate>100</update_rate>
-      <force_torque>
-        <frame>sensor</frame>
-        <measure_direction>child_to_parent</measure_direction>
-      </force_torque>
-      <pose>0.036699999999999997 0.0 -0.08969999999999995 3.141592653589793 -0.0 2.6179934742070086</pose>
-      <plugin name="left_leg_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
-  <yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_left_leg_ft.ini</yarpConfigurationFile>
-</plugin>
-    </sensor>
-  </gazebo>
-  <sensor name="l_leg_ft_sensor" type="force_torque">
-    <parent joint="l_leg_ft_sensor"/>
-    <force_torque>
-      <frame>sensor</frame>
-      <measure_direction>child_to_parent</measure_direction>
-    </force_torque>
-    <origin rpy="3.141592653589793 -0.0 2.6179934742070086" xyz="0.036699999999999997 0.0 -0.08969999999999995"/>
+    <origin rpy="3.141592644717707 4.094299285979593e-08 1.5707964185756365" xyz="-0.006849946385389875 2.1904996055921444e-07 -0.05429998157789099"/>
   </sensor>
   <gazebo reference="l_foot_front_ft_sensor">
     <sensor name="l_foot_front_ft_sensor" type="force_torque">
@@ -1626,28 +1604,6 @@
     </force_torque>
     <origin rpy="0.0 -0.0 -2.094395210586932" xyz="0.016 0.0 -0.04349999999999998"/>
   </sensor>
-  <gazebo reference="r_leg_ft_sensor">
-    <sensor name="r_leg_ft_sensor" type="force_torque">
-      <always_on>1</always_on>
-      <update_rate>100</update_rate>
-      <force_torque>
-        <frame>sensor</frame>
-        <measure_direction>child_to_parent</measure_direction>
-      </force_torque>
-      <pose>0.036699999999999997 0.0 -0.08969999999999995 3.141592653589793 0.0 -2.6179934742070086</pose>
-      <plugin name="right_leg_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
-  <yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_right_leg_ft.ini</yarpConfigurationFile>
-</plugin>
-    </sensor>
-  </gazebo>
-  <sensor name="r_leg_ft_sensor" type="force_torque">
-    <parent joint="r_leg_ft_sensor"/>
-    <force_torque>
-      <frame>sensor</frame>
-      <measure_direction>child_to_parent</measure_direction>
-    </force_torque>
-    <origin rpy="3.141592653589793 0.0 -2.6179934742070086" xyz="0.036699999999999997 0.0 -0.08969999999999995"/>
-  </sensor>
   <gazebo reference="r_foot_front_ft_sensor">
     <sensor name="r_foot_front_ft_sensor" type="force_torque">
       <always_on>1</always_on>
diff --git a/iCub/robots/iCubGenova01/model.urdf b/iCub/robots/iCubGenova01/model.urdf
index 676aece..1acd7d5 100644
--- a/iCub/robots/iCubGenova01/model.urdf
+++ b/iCub/robots/iCubGenova01/model.urdf
@@ -23,12 +23,12 @@
   </link>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -37,7 +37,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -199,7 +199,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
+    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -213,7 +213,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
+    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -241,7 +241,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
+    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -269,21 +269,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
+    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
+    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
+    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -318,14 +318,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
+    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
+    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -339,21 +339,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
+    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
+    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
+    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -374,14 +374,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
+    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
+    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -402,7 +402,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
+    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -416,7 +416,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
+    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -511,12 +511,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.033600099999999994 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.03360009999999998 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.382866"/>
       <inertia ixx="0.00120946" ixy="3.74585e-07" ixz="-5.78759e-05" iyy="0.00141439" iyz="-7.80325e-06" izz="0.000273599"/>
     </inertial>
     <visual>
-      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -525,7 +525,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -539,14 +539,14 @@
   </joint>
   <link name="r_sole"/>
   <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.003500000000000003 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
+    <origin xyz="0.003499999999999996 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_0"/>
   <joint name="r_sole_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.060476699999999994 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.06047669999999999 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_0"/>
     <dynamics damping="0.1"/>
@@ -560,14 +560,14 @@
   </joint>
   <link name="r_sole_skin_2"/>
   <joint name="r_sole_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.09320869999999999 -0.032368 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.09320869999999998 -0.032368 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_3"/>
   <joint name="r_sole_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.11158309999999998 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.11158309999999996 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_3"/>
     <dynamics damping="0.1"/>
@@ -609,112 +609,112 @@
   </joint>
   <link name="r_sole_skin_12"/>
   <joint name="r_sole_skin_12_fixed_joint" type="fixed">
-    <origin xyz="0.08286799999999998 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.08286799999999997 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_12"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_13"/>
   <joint name="r_sole_skin_13_fixed_joint" type="fixed">
-    <origin xyz="0.10124239999999998 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.10124239999999997 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_13"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_14"/>
   <joint name="r_sole_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.050136039999999986 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.05013603999999998 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_14"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_15"/>
   <joint name="r_sole_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.04611918999999999 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.046119189999999984 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_17"/>
   <joint name="r_sole_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.02968549999999999 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.029685499999999997 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_18"/>
   <joint name="r_sole_skin_18_fixed_joint" type="fixed">
-    <origin xyz="-0.0480599 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.04805990000000001 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_18"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_19"/>
   <joint name="r_sole_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.052076700000000004 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.05207670000000001 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_20"/>
   <joint name="r_sole_skin_20_fixed_joint" type="fixed">
-    <origin xyz="-0.03771920000000001 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.037719200000000015 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_21"/>
   <joint name="r_sole_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.03577849999999999 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.03577849999999998 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_21"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_22"/>
   <joint name="r_sole_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.027744799999999997 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.02774479999999999 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_22"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_24"/>
   <joint name="r_sole_skin_24_fixed_joint" type="fixed">
-    <origin xyz="-0.004987199999999997 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.004987200000000004 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_24"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_25"/>
   <joint name="r_sole_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.013387200000000002 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.013387199999999995 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_25"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_26"/>
   <joint name="r_sole_skin_26_fixed_joint" type="fixed">
-    <origin xyz="0.017404099999999992 0.0133722 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.017404099999999985 0.0133722 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_26"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_27"/>
   <joint name="r_sole_skin_27_fixed_joint" type="fixed">
-    <origin xyz="0.0030464999999999867 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.0030464999999999798 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_27"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_28"/>
   <joint name="r_sole_skin_28_fixed_joint" type="fixed">
-    <origin xyz="-0.015327899999999992 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.015327899999999998 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_28"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_29"/>
   <joint name="r_sole_skin_29_fixed_joint" type="fixed">
-    <origin xyz="-0.019344799999999995 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.019344800000000002 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_29"/>
     <dynamics damping="0.1"/>
@@ -938,12 +938,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
+      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000158626" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.000206526" iyz="1.19785e-06" izz="0.000104956"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -952,15 +952,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
-    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
+    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -989,7 +989,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
+    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -1026,12 +1026,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13344e-05" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="5.86947e-05" iyz="3.92498e-06" izz="9.68353e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1040,7 +1040,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1056,7 +1056,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -1077,7 +1077,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -1086,35 +1086,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1135,14 +1135,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -1170,7 +1170,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -1191,35 +1191,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1254,19 +1254,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="5.57722e-06" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="5.29845e-06" iyz="-1.59685e-07" izz="1.87724e-06"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1275,14 +1275,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -1312,7 +1312,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -1358,12 +1358,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
+      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000159621" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.000222574" iyz="1.20112e-06" izz="0.000120056"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1372,15 +1372,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
-    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
+    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -1409,7 +1409,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
+    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -1446,7 +1446,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13352e-05" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="5.86823e-05" iyz="3.9319e-06" izz="9.68469e-05"/>
     </inertial>
@@ -1476,7 +1476,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -1497,7 +1497,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -1506,35 +1506,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1555,7 +1555,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -1576,7 +1576,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -1611,35 +1611,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1653,7 +1653,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1674,19 +1674,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="5.56774e-06" ixy="3.08362e-08" ixz="9.42153e-07" iyy="5.28838e-06" iyz="-1.58924e-07" izz="1.87579e-06"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1695,14 +1695,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1732,7 +1732,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1748,12 +1748,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1762,7 +1762,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1778,12 +1778,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0011062999999999976 1.730000000001175e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0011062999999999906 1.7299999999997873e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.415987"/>
       <inertia ixx="0.000475741" ixy="2.89355e-07" ixz="-6.72876e-08" iyy="0.000279828" iyz="6.7417e-06" izz="0.000307828"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1792,14 +1792,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
+    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1808,12 +1808,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.00012290000000000217 -0.0002822999999999992 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012289999999999524 -0.00028229999999998534 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="3.27938e-05" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="5.69957e-05" iyz="3.32338e-08" izz="3.26449e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1822,26 +1822,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008301999999999962 7.519999999999749e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008301999999999893 7.519999999998361e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868999999999913 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868999999999982 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1850,7 +1850,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1866,7 +1866,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.051256699999999995 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.05125669999999999 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1880,12 +1880,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.0009997999999999951 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.000999800000000002 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1894,7 +1894,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1910,12 +1910,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015153099999999989 0.0009020000000000139 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.015153099999999996 0.000902 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447429734460005" ixy="-1.1322603878053663e-06" ixz="3.046651057758992e-05" iyy="0.0004478873540695352" iyz="2.5726583414130826e-06" izz="0.0003076030453774591"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1924,7 +1924,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1940,12 +1940,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011446999999999985 3.599999999992498e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0011447000000000054 3.5999999999786203e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.265122"/>
       <inertia ixx="0.000327222" ixy="-4.74606e-08" ixz="4.94571e-08" iyy="0.000248285" iyz="-4.29975e-06" izz="0.000150937"/>
     </inertial>
     <visual>
-      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1954,7 +1954,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1991,7 +1991,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.003500000000000003 0 -0.0605" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.003499999999999996 0 -0.0605" rpy="3.141592653589793 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2658,13 +2658,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2706,13 +2706,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2754,13 +2754,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2778,13 +2778,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2814,13 +2814,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2838,13 +2838,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2862,13 +2862,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -3004,24 +3004,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -3063,13 +3063,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
@@ -3087,178 +3087,178 @@
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07847939999999999 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
+      <pose>0.07847939999999998 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999999 -0.011812200000000009 -0.001214999999999966"/>
+    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999998 -0.011812200000000009 -0.001214999999999966"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012577000000000012 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.012577000000000005 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000012 -0.04040720000000002 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000005 -0.04040720000000002 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012575000000000003 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012574999999999996 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575000000000003 0.04040679999999998 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012574999999999996 0.04040679999999998 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013081000000000016 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.01308100000000001 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000016 -0.04040720000000002 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.01308100000000001 -0.04040720000000002 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013079 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.013078999999999993 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013079 0.04040679999999998 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999993 0.04040679999999998 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.042001689999999994 0.03156479999999999 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
+      <pose>0.04200169 0.03156479999999999 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.042001689999999994 0.03156479999999999 0.04913199999999998"/>
+    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.04200169 0.03156479999999999 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352114999999998 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352114999999999 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999998 0.007765700000000014 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999999 0.007765700000000014 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999998 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053784999999999986 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999998 -0.014429400000000002 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429400000000002 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.03412954999999998 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412954999999999 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999998 -0.0414999 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999999 -0.0414999 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.04378499999999999 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043785 0.017810999999999994 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999999 0.017810999999999994 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378500000000001 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.043785000000000004 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378500000000001 -0.014191800000000011 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785000000000004 -0.014191800000000011 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351379199999999 0.011314499999999963 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.043513791999999996 0.011314499999999963 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351379199999999 0.011314499999999963 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.043513791999999996 0.011314499999999963 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450335399999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.044503353999999995 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450335399999999 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503353999999995 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053133529999999984 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.05313352999999999 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133529999999984 0.017184099999999994 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313352999999999 0.017184099999999994 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
@@ -3276,25 +3276,25 @@
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915199999999996 0.04274479999999997 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.025915200000000003 0.04274479999999997 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915199999999996 0.04274479999999997 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.025915200000000003 0.04274479999999997 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999977 -0.041718700000000025 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
+      <pose>0.018459299999999984 -0.041718700000000025 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999977 -0.041718700000000025 -0.09295800000000004"/>
+    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999984 -0.041718700000000025 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
@@ -3368,45 +3368,45 @@
     <sensor name="l_upper_leg_ft_acc_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_acc_3b12" type="accelerometer">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_hip_2">
     <sensor name="l_upper_leg_ft_gyro_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_gyro_3b12" type="gyroscope">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_acc_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_acc_3b13" type="accelerometer">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_gyro_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_gyro_3b13" type="gyroscope">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
   </sensor>
   <gazebo>
     <pose>0.0 0.0 0.63 0.0 0.0 3.14</pose>
diff --git a/iCub/robots/iCubGenova02/model.urdf b/iCub/robots/iCubGenova02/model.urdf
index 188d3d3..612b79d 100644
--- a/iCub/robots/iCubGenova02/model.urdf
+++ b/iCub/robots/iCubGenova02/model.urdf
@@ -247,12 +247,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
+      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000158626" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.000206526" iyz="1.19785e-06" izz="0.000104956"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -261,15 +261,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
-    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
+    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -298,7 +298,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
+    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -335,12 +335,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13344e-05" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="5.86947e-05" iyz="3.92498e-06" izz="9.68353e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -349,7 +349,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -365,7 +365,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -386,7 +386,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -395,35 +395,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -444,14 +444,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -479,7 +479,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -500,35 +500,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -542,7 +542,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -563,19 +563,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="5.57722e-06" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="5.29845e-06" iyz="-1.59685e-07" izz="1.87724e-06"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -584,14 +584,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -621,7 +621,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -667,12 +667,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
+      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000159621" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.000222574" iyz="1.20112e-06" izz="0.000120056"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -681,15 +681,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
-    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
+    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -718,7 +718,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
+    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -755,7 +755,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13352e-05" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="5.86823e-05" iyz="3.9319e-06" izz="9.68469e-05"/>
     </inertial>
@@ -785,7 +785,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -806,7 +806,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -815,35 +815,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -864,7 +864,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -885,7 +885,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -920,35 +920,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -962,7 +962,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -983,19 +983,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="5.56774e-06" ixy="3.08362e-08" ixz="9.42153e-07" iyy="5.28838e-06" iyz="-1.58924e-07" izz="1.87579e-06"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1004,14 +1004,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1041,7 +1041,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1057,12 +1057,12 @@
   </joint>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1071,7 +1071,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.058310299999999995 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
+    <origin xyz="0.058310299999999995 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1247,7 +1247,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208552 0.03044339999999998 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
+    <origin xyz="0.05208552 0.03044339999999998 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -1275,7 +1275,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999999 -0.03117600000000001 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
+    <origin xyz="0.05504769999999999 -0.03117600000000001 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -1303,21 +1303,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.035753400000000005 0.04106279999999999 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
+    <origin xyz="0.035753400000000005 0.04106279999999999 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.023441900000000012 0.04799079999999998 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
+    <origin xyz="0.023441900000000012 0.04799079999999998 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.02427040000000001 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
+    <origin xyz="0.02427040000000001 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -1352,14 +1352,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.047748659999999984 -0.031231999999999996 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
+    <origin xyz="0.047748659999999984 -0.031231999999999996 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322408999999999 -0.01560180000000004 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
+    <origin xyz="0.05322408999999999 -0.01560180000000004 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -1373,21 +1373,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880466999999999 -0.031263 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
+    <origin xyz="0.04880466999999999 -0.031263 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999999 -0.01591290000000002 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
+    <origin xyz="0.05660089999999999 -0.01591290000000002 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.057010599999999995 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
+    <origin xyz="0.057010599999999995 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -1408,14 +1408,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641629999999995 0.01763889999999997 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
+    <origin xyz="0.052641629999999995 0.01763889999999997 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113137 0.032438499999999953 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
+    <origin xyz="0.04113137 0.032438499999999953 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -1436,7 +1436,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998319999999995 0.0012663999999999592 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
+    <origin xyz="0.052998319999999995 0.0012663999999999592 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -1450,7 +1450,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127079999999986 -0.030749000000000026 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
+    <origin xyz="0.045127079999999986 -0.030749000000000026 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -1485,12 +1485,12 @@
   </joint>
   <link name="r_ankle_1">
     <inertial>
-      <origin xyz="0.015143405473968807 -0.0008685000000000082 4.2859082720503316e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.015143405473968821 -0.0008685000000000082 4.2859082720503316e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.6803"/>
       <inertia ixx="0.0004046207392315529" ixy="8.523488844593136e-06" ixz="-2.8913590319053794e-05" iyy="0.0004379396781535379" iyz="3.7330395179426065e-05" izz="0.00031892819418424145"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272424511755 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424511754 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1499,7 +1499,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272424511755 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424511754 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1515,12 +1515,12 @@
   </joint>
   <link name="r_ankle_2">
     <inertial>
-      <origin xyz="0.0011452157753235048 -8.299999999988872e-06 -0.038511854107377785" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.0011452157753235187 -8.299999999988872e-06 -0.038511854107377785" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.265337"/>
       <inertia ixx="0.000327646" ixy="-7.94989e-08" ixz="8.24551e-09" iyy="0.000244632" iyz="2.0701e-05" izz="0.000155777"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272442308745 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442308744 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1529,7 +1529,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272442308745 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442308744 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1537,7 +1537,7 @@
   </link>
   <joint name="r_ankle_roll" type="revolute">
     <origin xyz="0 0 0" rpy="0 0 0"/>
-    <axis xyz="-1.0000001561184808 -6.013654019199066e-16 1.197939497389039e-07"/>
+    <axis xyz="-1.0000001561184808 -6.013654019199066e-16 1.1979394973216095e-07"/>
     <parent link="r_ankle_1"/>
     <child link="r_ankle_2"/>
     <limit effort="37.0" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="7.64"/>
@@ -1545,12 +1545,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.039779742643594365 0.004553699994905444 -0.006311816589999797" rpy="-1.832595507822573 0 -1.5707963267948983"/>
+      <origin xyz="0.039779742643594365 0.004553699994905444 -0.006311816589999797" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
       <mass value="0.357881"/>
       <inertia ixx="0.00109611" ixy="-2.9193e-07" ixz="-3.70109e-05" iyy="0.00125706" iyz="5.10952e-06" izz="0.000215359"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.832595507822573 0 -1.5707963267948983"/>
+      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1559,14 +1559,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.832595507822573 0 -1.5707963267948983"/>
+      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.0034999280659716164 0 -0.060500343280208146" rpy="3.141592652417863 0 0"/>
+    <origin xyz="-0.0034999280659716026 0 -0.060500343280208146" rpy="3.141592652417863 0 0"/>
     <parent link="r_ankle_2"/>
     <child link="r_foot"/>
     <dynamics damping="0.1"/>
@@ -1580,12 +1580,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1594,7 +1594,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1610,12 +1610,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0015761999999999998 -1.939999999998887e-05 -0.04405299999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0015761999999999929 -1.940000000000275e-05 -0.04405299999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.421106"/>
       <inertia ixx="0.000494284" ixy="1.5483e-07" ixz="-1.86308e-07" iyy="0.000288736" iyz="1.52962e-05" izz="0.000319008"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1624,14 +1624,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
+    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1640,12 +1640,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.0001229999999999981 -0.000282300000000027 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012299999999999117 -0.0002823000000000131 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="3.27938e-05" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="5.69957e-05" iyz="3.32338e-08" izz="3.26449e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370899980932098 0.07010000000001013 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.043708999809320984 0.07010000000001014 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1654,26 +1654,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370899980932098 0.07010000000001013 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.043708999809320984 0.07010000000001014 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008575000000000041 0 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008574999999999972 0 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868000000000023 0.00010179999999999911 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868000000000092 0.00010179999999999911 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370899980932098 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043708999809320984 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1682,7 +1682,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370899980932098 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043708999809320984 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1698,7 +1698,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.05125669999999998 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.051256699999999975 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1712,12 +1712,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.0009997000000000061 0.0034968999999999834 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.000999700000000013 0.0034968999999999834 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370899980931698 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980931699 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1726,7 +1726,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370899980931698 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980931699 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1742,12 +1742,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015152971856010333 0.0009021000000000029 4.2316556559285345e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.015152971856010347 0.0009021000000000029 4.2316556559285345e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447618553062084" ixy="-8.97867775831874e-06" ixz="2.9134846047326194e-05" iyy="0.00043720150287133953" iyz="3.730206268073148e-05" izz="0.00031828795462876227"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272424516864 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424516862 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1756,7 +1756,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272424516864 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424516862 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1772,12 +1772,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011452157753235326 -8.299999999974994e-06 -0.038511854107377674" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.0011452157753235465 -8.299999999974994e-06 -0.038511854107377674" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.265337"/>
       <inertia ixx="0.000327646" ixy="-7.94989e-08" ixz="8.24551e-09" iyy="0.000244632" iyz="2.0701e-05" izz="0.000155777"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272442313178 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442313177 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1786,7 +1786,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272442313178 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442313177 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1794,7 +1794,7 @@
   </link>
   <joint name="l_ankle_roll" type="revolute">
     <origin xyz="0 0 0" rpy="0 0 0"/>
-    <axis xyz="1.0000001561184808 6.013654019199066e-16 -1.197939497389039e-07"/>
+    <axis xyz="1.0000001561184808 6.013654019199066e-16 -1.1979394973216095e-07"/>
     <parent link="l_ankle_1"/>
     <child link="l_ankle_2"/>
     <limit effort="37.0" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="7.64"/>
@@ -1823,7 +1823,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.0034999280659716164 0 -0.060500343280208146" rpy="-3.141592643239301 0 0"/>
+    <origin xyz="-0.0034999280659716026 0 -0.060500343280208146" rpy="-3.141592643239301 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2315,13 +2315,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2363,13 +2363,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2411,13 +2411,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2435,13 +2435,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2471,13 +2471,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2495,13 +2495,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2519,13 +2519,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -2661,24 +2661,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351373 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04351373 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351373 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351373 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.044503292 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.044503292 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.044503292 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503292 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -2696,13 +2696,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0537517 0.01572289999999999 -0.0043179999999999885 -1.5707962918786202 -1.5706802104434698 -1.221730721500941</pose>
+      <pose>0.0537517 0.01572289999999999 -0.0043179999999999885 -1.5707962918765586 -1.5706802104434696 -1.2217307215014315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707962918786202 -1.5706802104434698 -1.221730721500941" xyz="0.0537517 0.01572289999999999 -0.0043179999999999885"/>
+    <origin rpy="-1.5707962918765586 -1.5706802104434696 -1.2217307215014315" xyz="0.0537517 0.01572289999999999 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b10" type="imu">
@@ -2720,238 +2720,238 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.01648010000000001 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.01648010000000001 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.01648010000000001 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.01648010000000001 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.11154352975660221 -0.00081220000825033 -0.022848096181402044 -0.26179918102765654 7.344347216498023e-08 -1.570796052699907</pose>
+      <pose>0.11154352975660221 -0.00081220000825033 -0.022848096181402044 -0.2617991810276566 7.344347213722464e-08 -1.5707960526999072</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b12" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="-0.26179918102765654 7.344347216498023e-08 -1.570796052699907" xyz="0.11154352975660221 -0.00081220000825033 -0.022848096181402044"/>
+    <origin rpy="-0.2617991810276566 7.344347213722464e-08 -1.5707960526999072" xyz="0.11154352975660221 -0.00081220000825033 -0.022848096181402044"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.08739538274799673 -0.011812200008250326 -0.016377625097255266 -0.26179918102766664 1.6098233857064772e-15 -1.5707963267948981</pose>
+      <pose>0.08739538274799673 -0.011812200008250326 -0.016377625097255266 -0.26179918102766675 1.5543122344752188e-15 -1.5707963267948986</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="-0.26179918102766664 1.6098233857064772e-15 -1.5707963267948981" xyz="0.08739538274799673 -0.011812200008250326 -0.016377625097255266"/>
+    <origin rpy="-0.26179918102766675 1.5543122344752188e-15 -1.5707963267948986" xyz="0.08739538274799673 -0.011812200008250326 -0.016377625097255266"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.0125771 -0.040407200000000004 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.012577099999999994 -0.040407200000000004 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.0125771 -0.040407200000000004 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577099999999994 -0.040407200000000004 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012575099999999992 0.040407 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012575099999999985 0.040407 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575099999999992 0.040407 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575099999999985 0.040407 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013081000000000002 -0.040407200000000004 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.013080999999999995 -0.040407200000000004 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000002 -0.040407200000000004 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013080999999999995 -0.040407200000000004 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013078999999999986 0.040407 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.01307899999999998 0.040407 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999986 0.040407 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.01307899999999998 0.040407 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04200163 0.03156500000000001 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
+      <pose>0.042001630000000005 0.03156500000000001 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.04200163 0.03156500000000001 0.04913199999999998"/>
+    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.042001630000000005 0.03156500000000001 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352108999999999 0.007765700000000028 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352109 0.007765700000000028 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352108999999999 0.007765700000000028 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352109 0.007765700000000028 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053785 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053785 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 -0.014429399999999995 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999999 -0.014429399999999995 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429399999999995 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 -0.014429399999999995 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.034129489999999985 -0.041499899999999985 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412948999999999 -0.041499899999999985 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.034129489999999985 -0.041499899999999985 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412948999999999 -0.041499899999999985 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043784999999999984 0.01781110000000001 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.04378499999999998 0.01781110000000001 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043784999999999984 0.01781110000000001 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999998 0.01781110000000001 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785 -0.014191799999999997 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.04378499999999999 -0.014191799999999997 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785 -0.014191799999999997 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378499999999999 -0.014191799999999997 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.043513729999999994 0.011314599999999966 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04351373 0.011314599999999966 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.043513729999999994 0.011314599999999966 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351373 0.011314599999999966 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450329199999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.044503292 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450329199999999 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503292 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053133469999999995 0.017184100000000008 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.05313347 0.017184100000000008 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133469999999995 0.017184100000000008 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313347 0.017184100000000008 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05445179999999999 -0.013799100000000002 -0.0043179999999999885 -1.5707963664504991 -1.5706802104435666 -1.919861927351539</pose>
+      <pose>0.054451799999999995 -0.013799100000000002 -0.0043179999999999885 -1.5707963664504991 -1.5706802104435666 -1.919861927351539</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b9" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707963664504991 -1.5706802104435666 -1.919861927351539" xyz="0.05445179999999999 -0.013799100000000002 -0.0043179999999999885"/>
+    <origin rpy="-1.5707963664504991 -1.5706802104435666 -1.919861927351539" xyz="0.054451799999999995 -0.013799100000000002 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915100000000003 0.042743999999999976 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.02591510000000001 0.042743999999999976 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915100000000003 0.042743999999999976 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.02591510000000001 0.042743999999999976 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999988 -0.04171870000000001 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
+      <pose>0.018459299999999994 -0.04171870000000001 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999988 -0.04171870000000001 -0.09295800000000004"/>
+    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999994 -0.04171870000000001 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
diff --git a/iCub/robots/iCubGenova04/model.urdf b/iCub/robots/iCubGenova04/model.urdf
index de1a7ce..bcb3414 100644
--- a/iCub/robots/iCubGenova04/model.urdf
+++ b/iCub/robots/iCubGenova04/model.urdf
@@ -23,12 +23,12 @@
   </link>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -37,7 +37,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -199,7 +199,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
+    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -213,7 +213,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
+    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -241,7 +241,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
+    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -269,21 +269,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
+    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
+    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
+    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -318,14 +318,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
+    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
+    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -339,21 +339,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
+    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
+    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
+    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -374,14 +374,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
+    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
+    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -402,7 +402,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
+    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -416,7 +416,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
+    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -511,12 +511,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.033600099999999994 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.03360009999999998 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.382866"/>
       <inertia ixx="0.00120946" ixy="3.74585e-07" ixz="-5.78759e-05" iyy="0.00141439" iyz="-7.80325e-06" izz="0.000273599"/>
     </inertial>
     <visual>
-      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -525,7 +525,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -539,14 +539,14 @@
   </joint>
   <link name="r_sole"/>
   <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.003500000000000003 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
+    <origin xyz="0.003499999999999996 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_0"/>
   <joint name="r_sole_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.060476699999999994 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.06047669999999999 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_0"/>
     <dynamics damping="0.1"/>
@@ -560,14 +560,14 @@
   </joint>
   <link name="r_sole_skin_2"/>
   <joint name="r_sole_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.09320869999999999 -0.032368 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.09320869999999998 -0.032368 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_3"/>
   <joint name="r_sole_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.11158309999999998 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.11158309999999996 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_3"/>
     <dynamics damping="0.1"/>
@@ -609,112 +609,112 @@
   </joint>
   <link name="r_sole_skin_12"/>
   <joint name="r_sole_skin_12_fixed_joint" type="fixed">
-    <origin xyz="0.08286799999999998 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.08286799999999997 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_12"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_13"/>
   <joint name="r_sole_skin_13_fixed_joint" type="fixed">
-    <origin xyz="0.10124239999999998 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.10124239999999997 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_13"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_14"/>
   <joint name="r_sole_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.050136039999999986 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.05013603999999998 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_14"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_15"/>
   <joint name="r_sole_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.04611918999999999 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.046119189999999984 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_17"/>
   <joint name="r_sole_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.02968549999999999 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.029685499999999997 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_18"/>
   <joint name="r_sole_skin_18_fixed_joint" type="fixed">
-    <origin xyz="-0.0480599 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.04805990000000001 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_18"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_19"/>
   <joint name="r_sole_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.052076700000000004 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.05207670000000001 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_20"/>
   <joint name="r_sole_skin_20_fixed_joint" type="fixed">
-    <origin xyz="-0.03771920000000001 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.037719200000000015 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_21"/>
   <joint name="r_sole_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.03577849999999999 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.03577849999999998 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_21"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_22"/>
   <joint name="r_sole_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.027744799999999997 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.02774479999999999 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_22"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_24"/>
   <joint name="r_sole_skin_24_fixed_joint" type="fixed">
-    <origin xyz="-0.004987199999999997 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.004987200000000004 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_24"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_25"/>
   <joint name="r_sole_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.013387200000000002 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.013387199999999995 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_25"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_26"/>
   <joint name="r_sole_skin_26_fixed_joint" type="fixed">
-    <origin xyz="0.017404099999999992 0.0133722 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.017404099999999985 0.0133722 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_26"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_27"/>
   <joint name="r_sole_skin_27_fixed_joint" type="fixed">
-    <origin xyz="0.0030464999999999867 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.0030464999999999798 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_27"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_28"/>
   <joint name="r_sole_skin_28_fixed_joint" type="fixed">
-    <origin xyz="-0.015327899999999992 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.015327899999999998 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_28"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_29"/>
   <joint name="r_sole_skin_29_fixed_joint" type="fixed">
-    <origin xyz="-0.019344799999999995 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.019344800000000002 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_29"/>
     <dynamics damping="0.1"/>
@@ -938,12 +938,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
+      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000158626" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.000206526" iyz="1.19785e-06" izz="0.000104956"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -952,15 +952,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
-    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
+    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -989,7 +989,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
+    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -1026,12 +1026,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13344e-05" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="5.86947e-05" iyz="3.92498e-06" izz="9.68353e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1040,7 +1040,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1056,7 +1056,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -1077,7 +1077,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -1086,35 +1086,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1135,14 +1135,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -1170,7 +1170,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -1191,35 +1191,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1254,19 +1254,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="5.57722e-06" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="5.29845e-06" iyz="-1.59685e-07" izz="1.87724e-06"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1275,14 +1275,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -1312,7 +1312,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -1358,12 +1358,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
+      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000159621" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.000222574" iyz="1.20112e-06" izz="0.000120056"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1372,15 +1372,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
-    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
+    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -1409,7 +1409,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
+    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -1446,7 +1446,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13352e-05" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="5.86823e-05" iyz="3.9319e-06" izz="9.68469e-05"/>
     </inertial>
@@ -1476,7 +1476,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -1497,7 +1497,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -1506,35 +1506,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1555,7 +1555,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -1576,7 +1576,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -1611,35 +1611,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1653,7 +1653,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1674,19 +1674,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="5.56774e-06" ixy="3.08362e-08" ixz="9.42153e-07" iyy="5.28838e-06" iyz="-1.58924e-07" izz="1.87579e-06"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1695,14 +1695,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1732,7 +1732,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1748,12 +1748,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1762,7 +1762,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1778,12 +1778,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0011062999999999976 1.730000000001175e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0011062999999999906 1.7299999999997873e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.415987"/>
       <inertia ixx="0.000475741" ixy="2.89355e-07" ixz="-6.72876e-08" iyy="0.000279828" iyz="6.7417e-06" izz="0.000307828"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1792,14 +1792,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
+    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1808,12 +1808,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.00012290000000000217 -0.0002822999999999992 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012289999999999524 -0.00028229999999998534 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="3.27938e-05" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="5.69957e-05" iyz="3.32338e-08" izz="3.26449e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1822,26 +1822,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008301999999999962 7.519999999999749e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008301999999999893 7.519999999998361e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868999999999913 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868999999999982 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1850,7 +1850,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1866,7 +1866,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.051256699999999995 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.05125669999999999 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1880,12 +1880,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.0009997999999999951 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.000999800000000002 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1894,7 +1894,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1910,12 +1910,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015153099999999989 0.0009020000000000139 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.015153099999999996 0.000902 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447429734460005" ixy="-1.1322603878053663e-06" ixz="3.046651057758992e-05" iyy="0.0004478873540695352" iyz="2.5726583414130826e-06" izz="0.0003076030453774591"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1924,7 +1924,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1940,12 +1940,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011446999999999985 3.599999999992498e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0011447000000000054 3.5999999999786203e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.265122"/>
       <inertia ixx="0.000327222" ixy="-4.74606e-08" ixz="4.94571e-08" iyy="0.000248285" iyz="-4.29975e-06" izz="0.000150937"/>
     </inertial>
     <visual>
-      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1954,7 +1954,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1991,7 +1991,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.003500000000000003 0 -0.0605" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.003499999999999996 0 -0.0605" rpy="3.141592653589793 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2658,13 +2658,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2706,13 +2706,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2754,13 +2754,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2778,13 +2778,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2814,13 +2814,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2838,13 +2838,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2862,13 +2862,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -3004,24 +3004,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -3063,13 +3063,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
@@ -3087,178 +3087,178 @@
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07847939999999999 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
+      <pose>0.07847939999999998 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999999 -0.011812200000000009 -0.001214999999999966"/>
+    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999998 -0.011812200000000009 -0.001214999999999966"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012577000000000012 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.012577000000000005 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000012 -0.04040720000000002 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000005 -0.04040720000000002 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012575000000000003 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012574999999999996 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575000000000003 0.04040679999999998 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012574999999999996 0.04040679999999998 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013081000000000016 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.01308100000000001 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000016 -0.04040720000000002 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.01308100000000001 -0.04040720000000002 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013079 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.013078999999999993 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013079 0.04040679999999998 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999993 0.04040679999999998 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.042001689999999994 0.03156479999999999 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
+      <pose>0.04200169 0.03156479999999999 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.042001689999999994 0.03156479999999999 0.04913199999999998"/>
+    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.04200169 0.03156479999999999 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352114999999998 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352114999999999 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999998 0.007765700000000014 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999999 0.007765700000000014 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999998 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053784999999999986 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999998 -0.014429400000000002 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429400000000002 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.03412954999999998 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412954999999999 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999998 -0.0414999 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999999 -0.0414999 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.04378499999999999 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043785 0.017810999999999994 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999999 0.017810999999999994 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378500000000001 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.043785000000000004 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378500000000001 -0.014191800000000011 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785000000000004 -0.014191800000000011 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351379199999999 0.011314499999999963 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.043513791999999996 0.011314499999999963 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
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+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.043513791999999996 0.011314499999999963 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450335399999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.044503353999999995 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450335399999999 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503353999999995 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053133529999999984 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.05313352999999999 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133529999999984 0.017184099999999994 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313352999999999 0.017184099999999994 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
@@ -3276,25 +3276,25 @@
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915199999999996 0.04274479999999997 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.025915200000000003 0.04274479999999997 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915199999999996 0.04274479999999997 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.025915200000000003 0.04274479999999997 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999977 -0.041718700000000025 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
+      <pose>0.018459299999999984 -0.041718700000000025 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999977 -0.041718700000000025 -0.09295800000000004"/>
+    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999984 -0.041718700000000025 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
@@ -3368,45 +3368,45 @@
     <sensor name="l_upper_leg_ft_acc_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_acc_3b12" type="accelerometer">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_hip_2">
     <sensor name="l_upper_leg_ft_gyro_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_gyro_3b12" type="gyroscope">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_acc_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_acc_3b13" type="accelerometer">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_gyro_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_gyro_3b13" type="gyroscope">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
   </sensor>
   <gazebo>
     <pose>0.0 0.0 0.63 0.0 0.0 3.14</pose>
diff --git a/iCub/robots/iCubGenova04_plus/model.urdf b/iCub/robots/iCubGenova04_plus/model.urdf
index 188d3d3..612b79d 100644
--- a/iCub/robots/iCubGenova04_plus/model.urdf
+++ b/iCub/robots/iCubGenova04_plus/model.urdf
@@ -247,12 +247,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
+      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000158626" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.000206526" iyz="1.19785e-06" izz="0.000104956"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -261,15 +261,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
-    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
+    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -298,7 +298,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
+    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -335,12 +335,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13344e-05" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="5.86947e-05" iyz="3.92498e-06" izz="9.68353e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -349,7 +349,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -365,7 +365,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -386,7 +386,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -395,35 +395,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -444,14 +444,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -479,7 +479,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -500,35 +500,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -542,7 +542,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -563,19 +563,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="5.57722e-06" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="5.29845e-06" iyz="-1.59685e-07" izz="1.87724e-06"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -584,14 +584,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -621,7 +621,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -667,12 +667,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
+      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000159621" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.000222574" iyz="1.20112e-06" izz="0.000120056"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -681,15 +681,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
-    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
+    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -718,7 +718,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
+    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -755,7 +755,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13352e-05" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="5.86823e-05" iyz="3.9319e-06" izz="9.68469e-05"/>
     </inertial>
@@ -785,7 +785,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -806,7 +806,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -815,35 +815,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -864,7 +864,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -885,7 +885,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -920,35 +920,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -962,7 +962,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -983,19 +983,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="5.56774e-06" ixy="3.08362e-08" ixz="9.42153e-07" iyy="5.28838e-06" iyz="-1.58924e-07" izz="1.87579e-06"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1004,14 +1004,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1041,7 +1041,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1057,12 +1057,12 @@
   </joint>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1071,7 +1071,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.058310299999999995 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
+    <origin xyz="0.058310299999999995 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1247,7 +1247,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208552 0.03044339999999998 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
+    <origin xyz="0.05208552 0.03044339999999998 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -1275,7 +1275,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999999 -0.03117600000000001 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
+    <origin xyz="0.05504769999999999 -0.03117600000000001 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -1303,21 +1303,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.035753400000000005 0.04106279999999999 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
+    <origin xyz="0.035753400000000005 0.04106279999999999 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.023441900000000012 0.04799079999999998 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
+    <origin xyz="0.023441900000000012 0.04799079999999998 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.02427040000000001 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
+    <origin xyz="0.02427040000000001 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -1352,14 +1352,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.047748659999999984 -0.031231999999999996 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
+    <origin xyz="0.047748659999999984 -0.031231999999999996 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322408999999999 -0.01560180000000004 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
+    <origin xyz="0.05322408999999999 -0.01560180000000004 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -1373,21 +1373,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880466999999999 -0.031263 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
+    <origin xyz="0.04880466999999999 -0.031263 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999999 -0.01591290000000002 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
+    <origin xyz="0.05660089999999999 -0.01591290000000002 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.057010599999999995 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
+    <origin xyz="0.057010599999999995 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -1408,14 +1408,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641629999999995 0.01763889999999997 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
+    <origin xyz="0.052641629999999995 0.01763889999999997 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113137 0.032438499999999953 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
+    <origin xyz="0.04113137 0.032438499999999953 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -1436,7 +1436,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998319999999995 0.0012663999999999592 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
+    <origin xyz="0.052998319999999995 0.0012663999999999592 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -1450,7 +1450,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127079999999986 -0.030749000000000026 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
+    <origin xyz="0.045127079999999986 -0.030749000000000026 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -1485,12 +1485,12 @@
   </joint>
   <link name="r_ankle_1">
     <inertial>
-      <origin xyz="0.015143405473968807 -0.0008685000000000082 4.2859082720503316e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.015143405473968821 -0.0008685000000000082 4.2859082720503316e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.6803"/>
       <inertia ixx="0.0004046207392315529" ixy="8.523488844593136e-06" ixz="-2.8913590319053794e-05" iyy="0.0004379396781535379" iyz="3.7330395179426065e-05" izz="0.00031892819418424145"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272424511755 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424511754 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1499,7 +1499,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272424511755 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424511754 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1515,12 +1515,12 @@
   </joint>
   <link name="r_ankle_2">
     <inertial>
-      <origin xyz="0.0011452157753235048 -8.299999999988872e-06 -0.038511854107377785" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.0011452157753235187 -8.299999999988872e-06 -0.038511854107377785" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.265337"/>
       <inertia ixx="0.000327646" ixy="-7.94989e-08" ixz="8.24551e-09" iyy="0.000244632" iyz="2.0701e-05" izz="0.000155777"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272442308745 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442308744 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1529,7 +1529,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272442308745 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442308744 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1537,7 +1537,7 @@
   </link>
   <joint name="r_ankle_roll" type="revolute">
     <origin xyz="0 0 0" rpy="0 0 0"/>
-    <axis xyz="-1.0000001561184808 -6.013654019199066e-16 1.197939497389039e-07"/>
+    <axis xyz="-1.0000001561184808 -6.013654019199066e-16 1.1979394973216095e-07"/>
     <parent link="r_ankle_1"/>
     <child link="r_ankle_2"/>
     <limit effort="37.0" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="7.64"/>
@@ -1545,12 +1545,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.039779742643594365 0.004553699994905444 -0.006311816589999797" rpy="-1.832595507822573 0 -1.5707963267948983"/>
+      <origin xyz="0.039779742643594365 0.004553699994905444 -0.006311816589999797" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
       <mass value="0.357881"/>
       <inertia ixx="0.00109611" ixy="-2.9193e-07" ixz="-3.70109e-05" iyy="0.00125706" iyz="5.10952e-06" izz="0.000215359"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.832595507822573 0 -1.5707963267948983"/>
+      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1559,14 +1559,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.832595507822573 0 -1.5707963267948983"/>
+      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.0034999280659716164 0 -0.060500343280208146" rpy="3.141592652417863 0 0"/>
+    <origin xyz="-0.0034999280659716026 0 -0.060500343280208146" rpy="3.141592652417863 0 0"/>
     <parent link="r_ankle_2"/>
     <child link="r_foot"/>
     <dynamics damping="0.1"/>
@@ -1580,12 +1580,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1594,7 +1594,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1610,12 +1610,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0015761999999999998 -1.939999999998887e-05 -0.04405299999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0015761999999999929 -1.940000000000275e-05 -0.04405299999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.421106"/>
       <inertia ixx="0.000494284" ixy="1.5483e-07" ixz="-1.86308e-07" iyy="0.000288736" iyz="1.52962e-05" izz="0.000319008"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1624,14 +1624,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
+    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1640,12 +1640,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.0001229999999999981 -0.000282300000000027 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012299999999999117 -0.0002823000000000131 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="3.27938e-05" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="5.69957e-05" iyz="3.32338e-08" izz="3.26449e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370899980932098 0.07010000000001013 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.043708999809320984 0.07010000000001014 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1654,26 +1654,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370899980932098 0.07010000000001013 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.043708999809320984 0.07010000000001014 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008575000000000041 0 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008574999999999972 0 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868000000000023 0.00010179999999999911 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868000000000092 0.00010179999999999911 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370899980932098 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043708999809320984 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1682,7 +1682,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370899980932098 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043708999809320984 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1698,7 +1698,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.05125669999999998 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.051256699999999975 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1712,12 +1712,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.0009997000000000061 0.0034968999999999834 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.000999700000000013 0.0034968999999999834 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370899980931698 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980931699 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1726,7 +1726,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370899980931698 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980931699 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1742,12 +1742,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015152971856010333 0.0009021000000000029 4.2316556559285345e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.015152971856010347 0.0009021000000000029 4.2316556559285345e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447618553062084" ixy="-8.97867775831874e-06" ixz="2.9134846047326194e-05" iyy="0.00043720150287133953" iyz="3.730206268073148e-05" izz="0.00031828795462876227"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272424516864 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424516862 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1756,7 +1756,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272424516864 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424516862 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1772,12 +1772,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011452157753235326 -8.299999999974994e-06 -0.038511854107377674" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.0011452157753235465 -8.299999999974994e-06 -0.038511854107377674" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.265337"/>
       <inertia ixx="0.000327646" ixy="-7.94989e-08" ixz="8.24551e-09" iyy="0.000244632" iyz="2.0701e-05" izz="0.000155777"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272442313178 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442313177 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1786,7 +1786,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272442313178 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442313177 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1794,7 +1794,7 @@
   </link>
   <joint name="l_ankle_roll" type="revolute">
     <origin xyz="0 0 0" rpy="0 0 0"/>
-    <axis xyz="1.0000001561184808 6.013654019199066e-16 -1.197939497389039e-07"/>
+    <axis xyz="1.0000001561184808 6.013654019199066e-16 -1.1979394973216095e-07"/>
     <parent link="l_ankle_1"/>
     <child link="l_ankle_2"/>
     <limit effort="37.0" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="7.64"/>
@@ -1823,7 +1823,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.0034999280659716164 0 -0.060500343280208146" rpy="-3.141592643239301 0 0"/>
+    <origin xyz="-0.0034999280659716026 0 -0.060500343280208146" rpy="-3.141592643239301 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2315,13 +2315,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2363,13 +2363,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2411,13 +2411,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2435,13 +2435,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2471,13 +2471,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2495,13 +2495,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2519,13 +2519,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -2661,24 +2661,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351373 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04351373 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351373 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351373 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.044503292 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.044503292 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.044503292 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503292 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -2696,13 +2696,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0537517 0.01572289999999999 -0.0043179999999999885 -1.5707962918786202 -1.5706802104434698 -1.221730721500941</pose>
+      <pose>0.0537517 0.01572289999999999 -0.0043179999999999885 -1.5707962918765586 -1.5706802104434696 -1.2217307215014315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707962918786202 -1.5706802104434698 -1.221730721500941" xyz="0.0537517 0.01572289999999999 -0.0043179999999999885"/>
+    <origin rpy="-1.5707962918765586 -1.5706802104434696 -1.2217307215014315" xyz="0.0537517 0.01572289999999999 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b10" type="imu">
@@ -2720,238 +2720,238 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.01648010000000001 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.01648010000000001 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.01648010000000001 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.01648010000000001 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
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   </gazebo>
   <sensor name="r_foot_mtb_acc_11b12" type="accelerometer">
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   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
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   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.0125771 -0.040407200000000004 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.0125771 -0.040407200000000004 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577099999999994 -0.040407200000000004 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012575099999999992 0.040407 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012575099999999985 0.040407 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575099999999992 0.040407 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575099999999985 0.040407 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013081000000000002 -0.040407200000000004 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.013080999999999995 -0.040407200000000004 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000002 -0.040407200000000004 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013080999999999995 -0.040407200000000004 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013078999999999986 0.040407 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.01307899999999998 0.040407 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999986 0.040407 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.01307899999999998 0.040407 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04200163 0.03156500000000001 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
+      <pose>0.042001630000000005 0.03156500000000001 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.04200163 0.03156500000000001 0.04913199999999998"/>
+    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.042001630000000005 0.03156500000000001 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352108999999999 0.007765700000000028 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352109 0.007765700000000028 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352108999999999 0.007765700000000028 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352109 0.007765700000000028 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053785 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053785 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 -0.014429399999999995 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999999 -0.014429399999999995 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429399999999995 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 -0.014429399999999995 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.034129489999999985 -0.041499899999999985 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412948999999999 -0.041499899999999985 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.034129489999999985 -0.041499899999999985 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412948999999999 -0.041499899999999985 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043784999999999984 0.01781110000000001 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.04378499999999998 0.01781110000000001 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043784999999999984 0.01781110000000001 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999998 0.01781110000000001 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785 -0.014191799999999997 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.04378499999999999 -0.014191799999999997 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785 -0.014191799999999997 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378499999999999 -0.014191799999999997 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.043513729999999994 0.011314599999999966 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04351373 0.011314599999999966 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.043513729999999994 0.011314599999999966 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351373 0.011314599999999966 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450329199999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.044503292 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450329199999999 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503292 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053133469999999995 0.017184100000000008 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.05313347 0.017184100000000008 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133469999999995 0.017184100000000008 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313347 0.017184100000000008 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05445179999999999 -0.013799100000000002 -0.0043179999999999885 -1.5707963664504991 -1.5706802104435666 -1.919861927351539</pose>
+      <pose>0.054451799999999995 -0.013799100000000002 -0.0043179999999999885 -1.5707963664504991 -1.5706802104435666 -1.919861927351539</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b9" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707963664504991 -1.5706802104435666 -1.919861927351539" xyz="0.05445179999999999 -0.013799100000000002 -0.0043179999999999885"/>
+    <origin rpy="-1.5707963664504991 -1.5706802104435666 -1.919861927351539" xyz="0.054451799999999995 -0.013799100000000002 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915100000000003 0.042743999999999976 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.02591510000000001 0.042743999999999976 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915100000000003 0.042743999999999976 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.02591510000000001 0.042743999999999976 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999988 -0.04171870000000001 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
+      <pose>0.018459299999999994 -0.04171870000000001 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999988 -0.04171870000000001 -0.09295800000000004"/>
+    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999994 -0.04171870000000001 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
diff --git a/iCub/robots/iCubGenova09/model.urdf b/iCub/robots/iCubGenova09/model.urdf
index 22944fe..5d1528f 100644
--- a/iCub/robots/iCubGenova09/model.urdf
+++ b/iCub/robots/iCubGenova09/model.urdf
@@ -398,12 +398,12 @@
   </joint>
   <link name="l_shoulder_1">
     <inertial>
-      <origin xyz="0.0002918276617865645 0.05723090680782866 0.0005026028232598678" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
+      <origin xyz="0.0002918276617865645 0.05723090680782866 0.0005026028232598713" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
       <mass value="1.45562"/>
       <inertia ixx="0.00109517" ixy="0.000611891" ixz="0.000565594" iyy="0.00306956" iyz="-0.000159546" izz="0.00307951"/>
     </inertial>
     <visual>
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+      <origin xyz="0.030411223823216205 -0.02914047750374663 0.019095766539677896" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_1_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -412,7 +412,7 @@
       </material>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_1_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -420,7 +420,7 @@
   </link>
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     <origin xyz="-0.020835100000000002 0.0397423 0.1052029" rpy="0.25326162380993705 -1.1977334179319483e-07 -0.26179930184968747"/>
-    <axis xyz="3.323079797554136e-07 0.9999999783534342 1.4452224303420037e-07"/>
+    <axis xyz="3.323079797673039e-07 0.9999999783534342 1.4452224303407313e-07"/>
     <parent link="chest"/>
     <child link="l_shoulder_1"/>
     <limit effort="50000" lower="-1.53588974175501" upper="0.22689280275926285" velocity="120.0"/>
@@ -428,12 +428,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.003293362025486902 0.0002563804707528261 -0.027865685757097337" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="0.0032933620254868984 0.0002563804707528261 -0.027865685757097337" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -442,15 +442,15 @@
       </material>
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   <joint name="l_shoulder_roll" type="revolute">
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-    <axis xyz="0.9999998262417685 2.0348252625938444e-07 -4.023022846062156e-08"/>
+    <origin xyz="0.004992849331690818 0.111499838456099 0.0002686502277366859" rpy="-0.17453296140985 -0.05374759931933852 0"/>
+    <axis xyz="0.9999998262417684 2.0348252649342313e-07 -4.0230228454118944e-08"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.20943951023931956" upper="2.792526803190927" velocity="120.0"/>
@@ -458,12 +458,12 @@
   </joint>
   <link name="l_shoulder_3">
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-      <origin xyz="-4.416264022005789e-06 9.587749727052453e-05 -0.007326213473011087" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="-4.41626402200232e-06 9.587749727052453e-05 -0.007326213473011087" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -472,26 +472,26 @@
       </material>
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   <joint name="l_arm_ft_sensor" type="fixed">
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+    <origin xyz="-0.004350133156978329 3.632573233880443e-07 -0.05430003872406172" rpy="0 0 0"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_arm">
     <inertial>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -500,15 +500,15 @@
       </material>
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       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
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   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0 -4.2345248449371375e-07 -0.022499941373124423" rpy="0 0 0"/>
-    <axis xyz="2.2276474049102235e-08 -4.393786247302041e-08 -1.0000002566182309"/>
+    <origin xyz="0 -4.2345248449371375e-07 -0.02249994137312443" rpy="0 0 0"/>
+    <axis xyz="2.227647404040578e-08 -4.393786245948661e-08 -1.0000002566182309"/>
     <parent link="l_shoulder_3"/>
     <child link="l_upper_arm"/>
     <limit effort="50000" lower="-0.8726646259971648" upper="1.3962634015954636" velocity="120.0"/>
@@ -516,12 +516,12 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="-0.010241946078109288 0.0018224069895867168 -0.015089620258555453" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="-0.010241946078109292 0.0018224069895867168 -0.01508962025855548" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
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       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_elbow_1_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -530,7 +530,7 @@
       </material>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_elbow_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -538,7 +538,7 @@
   </link>
   <joint name="l_elbow" type="revolute">
     <origin xyz="0.009999930234919404 -0.001499647423428896 -0.12370033753758375" rpy="0 0 0"/>
-    <axis xyz="-8.811824174789715e-08 -1.0000002733514628 4.404736120498342e-08"/>
+    <axis xyz="-8.811824154381087e-08 -1.0000002733514628 4.4047361189014644e-08"/>
     <parent link="l_upper_arm"/>
     <child link="l_elbow_1"/>
     <limit effort="50000" lower="-0.05235987755982989" upper="1.3089969389957472" velocity="120.0"/>
@@ -546,12 +546,12 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="-0.0062698741022980675 -4.68551245806359e-05 -0.030648347755607208" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="-0.006269874102298061 -4.68551245806359e-05 -0.030648347755607153" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_forearm_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -560,15 +560,15 @@
       </material>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_forearm_prt.stl" scale="0.001 0.001 0.001"/>
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   <joint name="l_wrist_prosup" type="revolute">
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-    <axis xyz="2.2276474049102235e-08 -4.393786247302041e-08 -1.0000002566182309"/>
+    <origin xyz="-0.014999870654177704 0.0019996435036348514 -0.055300063582479825" rpy="0 0 0"/>
+    <axis xyz="2.227647404040578e-08 -4.393786245948661e-08 -1.0000002566182309"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
     <limit effort="50000" lower="-1.53588974175501" upper="1.53588974175501" velocity="120.0"/>
@@ -576,12 +576,12 @@
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.014390150453737368 -0.0005083960996520864 -9.893035257668714e-05" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="-0.014390150453737368 -0.0005083960996520587 -9.893035257668714e-05" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -590,15 +590,15 @@
       </material>
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   <joint name="l_wrist_pitch" type="revolute">
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-    <axis xyz="-0.9999998262417685 -2.0348252625938444e-07 4.023022846062156e-08"/>
+    <origin xyz="0.016600015934286182 0.002006895218072541 -0.10749964114254112" rpy="0 0 0"/>
+    <axis xyz="-0.9999998262417684 -2.0348252649342313e-07 4.0230228454118944e-08"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
     <limit effort="50000" lower="-1.2217304763960306" upper="0.4363323129985824" velocity="120.0"/>
@@ -606,12 +606,12 @@
   </joint>
   <link name="l_hand">
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@@ -620,15 +620,15 @@
       </material>
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   <joint name="l_wrist_yaw" type="revolute">
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-    <axis xyz="8.811824174789715e-08 1.0000002733514628 -4.404736120498342e-08"/>
+    <origin xyz="-0.016300121744729387 -0.0069993926815711816 0" rpy="0 0 0"/>
+    <axis xyz="8.811824154381087e-08 1.0000002733514628 -4.4047361189014644e-08"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
     <limit effort="50000" lower="-0.2617993877991494" upper="0.6108652381980153" velocity="120.0"/>
@@ -658,7 +658,7 @@
   </link>
   <joint name="r_shoulder_pitch" type="revolute">
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+    <axis xyz="1.499044390054707e-07 0.9999999783534812 -1.2401537036188515e-07"/>
     <parent link="chest"/>
     <child link="r_shoulder_1"/>
     <limit effort="50000" lower="-1.53588974175501" upper="0.22689280275926285" velocity="120.0"/>
@@ -666,12 +666,12 @@
   </joint>
   <link name="r_shoulder_2">
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     <visual>
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+      <origin xyz="0.023893261066846316 0.14153171676199236 -0.007252350207672715" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -680,15 +680,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.02389326106684632 0.1415317167619924 -0.007252350207672714" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.023893261066846316 0.14153171676199236 -0.007252350207672715" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="0.007489008185044645 -0.11150041046657978 0.0004027858966975245" rpy="0.17453306234069352 -0.05374779257913059 -6.132332688804098e-07"/>
-    <axis xyz="-0.9999998262417886 4.210501434612913e-08 2.4630481182686846e-08"/>
+    <origin xyz="0.007489008185044645 -0.11150041046657978 0.0004027858966975245" rpy="0.17453306234069357 -0.053747792579130614 -6.132332688812785e-07"/>
+    <axis xyz="-0.9999998262417886 4.2105014356162707e-08 2.4630481189336084e-08"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.20943951023931956" upper="2.792526803190927" velocity="120.0"/>
@@ -696,12 +696,12 @@
   </joint>
   <link name="r_shoulder_3">
     <inertial>
-      <origin xyz="-8.928496484206933e-05 -3.376971940446949e-05 -0.007594500252887257" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="-8.928496484206933e-05 -3.376971940446949e-05 -0.00759450025288725" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <mass value="0.258699"/>
       <inertia ixx="7.20362e-05" ixy="5.87638e-07" ixz="-2.8754e-06" iyy="7.22746e-05" iyz="-3.42816e-06" izz="0.000119776"/>
     </inertial>
     <visual>
-      <origin xyz="0.030743207452236198 0.1415314977120318 0.047047631370218286" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.030743207452236198 0.1415314977120318 0.04704763137021829" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -710,26 +710,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.030743207452236198 0.1415314977120318 0.047047631370218286" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.030743207452236198 0.1415314977120318 0.04704763137021829" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_arm_ft_sensor" type="fixed">
-    <origin xyz="-0.006849946385389872 2.1904996058697002e-07 -0.05429998157789099" rpy="0 0 0"/>
+    <origin xyz="-0.006849946385389875 2.1904996055921444e-07 -0.05429998157789099" rpy="0 0 0"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_upper_arm">
     <inertial>
-      <origin xyz="-4.827495476422694e-06 -0.001943485876269635 -0.04747357932833829" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="-4.8274954764261635e-06 -0.001943485876269635 -0.04747357932833829" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <mass value="2.06334"/>
       <inertia ixx="0.00382639" ixy="-5.03894e-06" ixz="0.000205684" iyy="0.00368146" iyz="0.000261155" izz="0.00167002"/>
     </inertial>
     <visual>
-      <origin xyz="0.03074312554381852 0.141531075879301 0.06954757274337188" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.030743125543818518 0.141531075879301 0.06954757274337188" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -738,15 +738,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.03074312554381852 0.141531075879301 0.06954757274337188" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.030743125543818518 0.141531075879301 0.06954757274337188" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="0 4.2183273077367467e-07 -0.02249994137315358" rpy="0 0 0"/>
-    <axis xyz="-3.787621790776764e-08 2.805197706023475e-08 1.0000002566182309"/>
+    <origin xyz="0 4.2183273077367467e-07 -0.022499941373153573" rpy="0 0 0"/>
+    <axis xyz="-3.787621790513063e-08 2.805197706068352e-08 1.0000002566182309"/>
     <parent link="r_shoulder_3"/>
     <child link="r_upper_arm"/>
     <limit effort="50000" lower="-0.8726646259971648" upper="1.3962634015954636" velocity="120.0"/>
@@ -754,12 +754,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.011624818009452066 -0.0018028159470199479 0.022300137248866647" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="-0.011624818009452066 -0.00180281594701992 0.022300137248866647" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <mass value="0.397478"/>
       <inertia ixx="0.00139406" ixy="5.80993e-06" ixz="5.27143e-05" iyy="0.00139077" iyz="6.49755e-05" izz="0.000397127"/>
     </inertial>
     <visual>
-      <origin xyz="0.020743193621214673 0.14003143574727356 0.19324791023291824" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.020743193621214673 0.14003143574727359 0.19324791023291824" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_elbow_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -768,15 +768,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.020743193621214673 0.14003143574727356 0.19324791023291824" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.020743193621214673 0.14003143574727359 0.19324791023291824" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_elbow_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_elbow" type="revolute">
-    <origin xyz="0.00999993192260382 0.0014996401320274133 -0.1237003374895465" rpy="0 0 0"/>
-    <axis xyz="2.4949582807394525e-07 -1.0000002733514362 2.7942487010105877e-08"/>
+    <origin xyz="0.009999931922603816 0.0014996401320274133 -0.1237003374895465" rpy="0 0 0"/>
+    <axis xyz="2.4949582809984105e-07 -1.0000002733514362 2.7942487004772865e-08"/>
     <parent link="r_upper_arm"/>
     <child link="r_elbow_1"/>
     <limit effort="50000" lower="-0.05235987755982989" upper="1.3089969389957472" velocity="120.0"/>
@@ -805,8 +805,8 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.014999869468812953 -0.0019996499053189787 -0.05530006367251966" rpy="0 0 0"/>
-    <axis xyz="-3.787621790776764e-08 2.805197706023475e-08 1.0000002566182309"/>
+    <origin xyz="-0.014999869468812953 -0.001999649905318951 -0.05530006367251966" rpy="0 0 0"/>
+    <axis xyz="-3.787621790513063e-08 2.805197706068352e-08 1.0000002566182309"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
     <limit effort="50000" lower="-1.53588974175501" upper="1.53588974175501" velocity="120.0"/>
@@ -814,12 +814,12 @@
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="-0.014389827079018234 0.0005092753390521787 -9.78731576423697e-05" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="-0.014389827079018234 0.0005092753390522065 -9.787315764231419e-05" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <mass value="0.0344005"/>
       <inertia ixx="5.11755e-06" ixy="9.19776e-07" ixz="1.47559e-08" iyy="1.60849e-06" iyz="-1.11493e-07" izz="5.58546e-06"/>
     </inertial>
     <visual>
-      <origin xyz="0.019443109736078983 0.14403852854340418 0.3560480536175445" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.019443109736078983 0.1440385285434042 0.35604805361754455" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -828,7 +828,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.019443109736078983 0.14403852854340418 0.3560480536175445" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.019443109736078983 0.1440385285434042 0.35604805361754455" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -836,7 +836,7 @@
   </link>
   <joint name="r_wrist_pitch" type="revolute">
     <origin xyz="0.016299953353948633 -0.002007442890811839 -0.10750007971210637" rpy="0 0 0"/>
-    <axis xyz="0.9999998262417886 -4.210501434612913e-08 -2.4630481182686846e-08"/>
+    <axis xyz="0.9999998262417886 -4.2105014356162707e-08 -2.4630481189336084e-08"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
     <limit effort="50000" lower="-1.2217304763960306" upper="0.4363323129985824" velocity="120.0"/>
@@ -844,12 +844,12 @@
   </joint>
   <link name="r_hand">
     <inertial>
-      <origin xyz="0.004828314385249669 0.00615667237451184 -0.0671378028889843" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.004828314385249662 0.00615667237451184 -0.0671378028889843" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <mass value="0.264229"/>
       <inertia ixx="0.000428764" ixy="4.7873e-05" ixz="1.1114e-05" iyy="0.000348073" iyz="1.14469e-05" izz="0.00016164"/>
     </inertial>
     <visual>
-      <origin xyz="0.03574323261035172 0.1370391384923124 0.35604813291443793" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.03574323261035171 0.1370391384923124 0.35604813291443793" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_hand_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -858,15 +858,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.03574323261035172 0.1370391384923124 0.35604813291443793" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.03574323261035171 0.1370391384923124 0.35604813291443793" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_hand_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="continuous">
-    <origin xyz="-0.016300122874272734 0.006999390051091792 0" rpy="0 0 0"/>
-    <axis xyz="-2.4949582807394525e-07 1.0000002733514362 -2.7942487010105877e-08"/>
+    <origin xyz="-0.016300122874272734 0.0069993900510918194 0" rpy="0 0 0"/>
+    <axis xyz="-2.4949582809984105e-07 1.0000002733514362 -2.7942487004772865e-08"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
     <dynamics damping="0.1"/>
@@ -1524,7 +1524,7 @@
         <frame>sensor</frame>
         <measure_direction>child_to_parent</measure_direction>
       </force_torque>
-      <pose>-0.004350133156978318 3.632573233602887e-07 -0.05430003872406172 3.141592646862139 -3.10468332187885e-08 -1.5707962571980942</pose>
+      <pose>-0.004350133156978329 3.632573233880443e-07 -0.05430003872406172 3.141592646862139 -3.104683320142575e-08 -1.5707962571980942</pose>
       <plugin name="left_arm_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
   <yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_left_arm_ft.ini</yarpConfigurationFile>
 </plugin>
@@ -1536,7 +1536,7 @@
       <frame>sensor</frame>
       <measure_direction>child_to_parent</measure_direction>
     </force_torque>
-    <origin rpy="3.141592646862139 -3.10468332187885e-08 -1.5707962571980942" xyz="-0.004350133156978318 3.632573233602887e-07 -0.05430003872406172"/>
+    <origin rpy="3.141592646862139 -3.104683320142575e-08 -1.5707962571980942" xyz="-0.004350133156978329 3.632573233880443e-07 -0.05430003872406172"/>
   </sensor>
   <gazebo reference="r_arm_ft_sensor">
     <sensor name="r_arm_ft_sensor" type="force_torque">
@@ -1546,7 +1546,7 @@
         <frame>sensor</frame>
         <measure_direction>child_to_parent</measure_direction>
       </force_torque>
-      <pose>-0.006849946385389872 2.1904996058697002e-07 -0.05429998157789099 3.141592644717707 4.094299285979593e-08 1.5707964185756365</pose>
+      <pose>-0.006849946385389875 2.1904996055921444e-07 -0.05429998157789099 3.141592644717707 4.094299285979593e-08 1.5707964185756365</pose>
       <plugin name="right_arm_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
   <yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_right_arm_ft.ini</yarpConfigurationFile>
 </plugin>
@@ -1558,29 +1558,7 @@
       <frame>sensor</frame>
       <measure_direction>child_to_parent</measure_direction>
     </force_torque>
-    <origin rpy="3.141592644717707 4.094299285979593e-08 1.5707964185756365" xyz="-0.006849946385389872 2.1904996058697002e-07 -0.05429998157789099"/>
-  </sensor>
-  <gazebo reference="l_leg_ft_sensor">
-    <sensor name="l_leg_ft_sensor" type="force_torque">
-      <always_on>1</always_on>
-      <update_rate>100</update_rate>
-      <force_torque>
-        <frame>sensor</frame>
-        <measure_direction>child_to_parent</measure_direction>
-      </force_torque>
-      <pose>0.036699999999999997 0.0 -0.08969999999999995 3.141592653589793 -0.0 2.6179934742070086</pose>
-      <plugin name="left_leg_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
-  <yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_left_leg_ft.ini</yarpConfigurationFile>
-</plugin>
-    </sensor>
-  </gazebo>
-  <sensor name="l_leg_ft_sensor" type="force_torque">
-    <parent joint="l_leg_ft_sensor"/>
-    <force_torque>
-      <frame>sensor</frame>
-      <measure_direction>child_to_parent</measure_direction>
-    </force_torque>
-    <origin rpy="3.141592653589793 -0.0 2.6179934742070086" xyz="0.036699999999999997 0.0 -0.08969999999999995"/>
+    <origin rpy="3.141592644717707 4.094299285979593e-08 1.5707964185756365" xyz="-0.006849946385389875 2.1904996055921444e-07 -0.05429998157789099"/>
   </sensor>
   <gazebo reference="l_foot_front_ft_sensor">
     <sensor name="l_foot_front_ft_sensor" type="force_torque">
@@ -1626,28 +1604,6 @@
     </force_torque>
     <origin rpy="0.0 -0.0 -2.094395210586932" xyz="0.016 0.0 -0.04349999999999998"/>
   </sensor>
-  <gazebo reference="r_leg_ft_sensor">
-    <sensor name="r_leg_ft_sensor" type="force_torque">
-      <always_on>1</always_on>
-      <update_rate>100</update_rate>
-      <force_torque>
-        <frame>sensor</frame>
-        <measure_direction>child_to_parent</measure_direction>
-      </force_torque>
-      <pose>0.036699999999999997 0.0 -0.08969999999999995 3.141592653589793 0.0 -2.6179934742070086</pose>
-      <plugin name="right_leg_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
-  <yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_right_leg_ft.ini</yarpConfigurationFile>
-</plugin>
-    </sensor>
-  </gazebo>
-  <sensor name="r_leg_ft_sensor" type="force_torque">
-    <parent joint="r_leg_ft_sensor"/>
-    <force_torque>
-      <frame>sensor</frame>
-      <measure_direction>child_to_parent</measure_direction>
-    </force_torque>
-    <origin rpy="3.141592653589793 0.0 -2.6179934742070086" xyz="0.036699999999999997 0.0 -0.08969999999999995"/>
-  </sensor>
   <gazebo reference="r_foot_front_ft_sensor">
     <sensor name="r_foot_front_ft_sensor" type="force_torque">
       <always_on>1</always_on>
@@ -1779,6 +1735,6 @@
     <origin rpy="-1.5707963267948968 -0.0 -1.5707963267948968" xyz="0.0894115 -0.0115 0.09929950000000001"/>
   </sensor>
   <gazebo>
-    <pose>0.0 0.0 0.8 0.0 0.0 0.0</pose>
+    <pose>0.0 0.0 0.64 0.0 0.0 0.0</pose>
   </gazebo>
 </robot>

From 63c2679db324b7652783ba8206bc9d4cdd56a8dc Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Nicol=C3=B2=20Genesio=20=28=E4=BA=8C=E3=82=B3=E3=82=B2?=
 =?UTF-8?q?=E3=83=8D=29?= <nicolo.genesio@iit.it>
Date: Mon, 7 Dec 2020 10:02:33 +0000
Subject: [PATCH 04/10] Automatic build. GitHub Actions build: 405519155
 icub-model-generator commit:36a8ac41017b88ba1892ff7fe06833e6c9461e17
 urdf_parser_py commit:31474b9baaf7c3845b40e5a9aa87d5900a2282c3
 simmechanics-to-urdf commit:f6055ab8d627c45138ddde46532ea42a74b48caa

---
 .../conf_icub3/gazebo_icub_chest_inertial.ini |  14 +
 iCub/robots/iCubDarmstadt01/model.urdf        | 374 +++++++++---------
 iCub/robots/iCubGazeboV2_5/model.urdf         | 372 ++++++++---------
 iCub/robots/iCubGazeboV2_5_plus/model.urdf    | 346 ++++++++--------
 iCub/robots/iCubGazeboV2_6/model.urdf         | 372 ++++++++---------
 iCub/robots/iCubGazeboV2_7/model.urdf         | 372 ++++++++---------
 iCub/robots/iCubGazeboV3/model.urdf           | 158 ++++----
 iCub/robots/iCubGenova01/model.urdf           | 374 +++++++++---------
 iCub/robots/iCubGenova02/model.urdf           | 348 ++++++++--------
 iCub/robots/iCubGenova04/model.urdf           | 374 +++++++++---------
 iCub/robots/iCubGenova04_plus/model.urdf      | 348 ++++++++--------
 iCub/robots/iCubGenova09/model.urdf           | 158 ++++----
 12 files changed, 1826 insertions(+), 1784 deletions(-)
 create mode 100644 iCub/conf_icub3/gazebo_icub_chest_inertial.ini

diff --git a/iCub/conf_icub3/gazebo_icub_chest_inertial.ini b/iCub/conf_icub3/gazebo_icub_chest_inertial.ini
new file mode 100644
index 0000000..b689b8a
--- /dev/null
+++ b/iCub/conf_icub3/gazebo_icub_chest_inertial.ini
@@ -0,0 +1,14 @@
+[include "gazebo_icub_robotname.ini"]
+
+[WRAPPER]
+device multipleanalogsensorsserver
+name /${gazeboYarpPluginsRobotName}/chest/inertials
+period 10
+
+[ADDITIONAL_WRAPPER]
+device inertial
+name /${gazeboYarpPluginsRobotName}/chest/inertial
+period 0.01
+
+[IMU_DRIVER]
+device gazebo_imu
\ No newline at end of file
diff --git a/iCub/robots/iCubDarmstadt01/model.urdf b/iCub/robots/iCubDarmstadt01/model.urdf
index 1acd7d5..676aece 100644
--- a/iCub/robots/iCubDarmstadt01/model.urdf
+++ b/iCub/robots/iCubDarmstadt01/model.urdf
@@ -23,12 +23,12 @@
   </link>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -37,7 +37,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -199,7 +199,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
+    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -213,7 +213,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
+    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -241,7 +241,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
+    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -269,21 +269,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
+    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
+    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
+    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -318,14 +318,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
+    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
+    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -339,21 +339,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
+    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
+    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
+    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -374,14 +374,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
+    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
+    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -402,7 +402,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
+    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -416,7 +416,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
+    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -511,12 +511,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.03360009999999998 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.033600099999999994 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.382866"/>
       <inertia ixx="0.00120946" ixy="3.74585e-07" ixz="-5.78759e-05" iyy="0.00141439" iyz="-7.80325e-06" izz="0.000273599"/>
     </inertial>
     <visual>
-      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -525,7 +525,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -539,14 +539,14 @@
   </joint>
   <link name="r_sole"/>
   <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.003499999999999996 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
+    <origin xyz="0.003500000000000003 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_0"/>
   <joint name="r_sole_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.06047669999999999 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.060476699999999994 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_0"/>
     <dynamics damping="0.1"/>
@@ -560,14 +560,14 @@
   </joint>
   <link name="r_sole_skin_2"/>
   <joint name="r_sole_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.09320869999999998 -0.032368 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.09320869999999999 -0.032368 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_3"/>
   <joint name="r_sole_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.11158309999999996 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.11158309999999998 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_3"/>
     <dynamics damping="0.1"/>
@@ -609,112 +609,112 @@
   </joint>
   <link name="r_sole_skin_12"/>
   <joint name="r_sole_skin_12_fixed_joint" type="fixed">
-    <origin xyz="0.08286799999999997 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.08286799999999998 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_12"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_13"/>
   <joint name="r_sole_skin_13_fixed_joint" type="fixed">
-    <origin xyz="0.10124239999999997 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.10124239999999998 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_13"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_14"/>
   <joint name="r_sole_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05013603999999998 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.050136039999999986 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_14"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_15"/>
   <joint name="r_sole_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.046119189999999984 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.04611918999999999 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_17"/>
   <joint name="r_sole_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.029685499999999997 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.02968549999999999 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_18"/>
   <joint name="r_sole_skin_18_fixed_joint" type="fixed">
-    <origin xyz="-0.04805990000000001 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.0480599 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_18"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_19"/>
   <joint name="r_sole_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.05207670000000001 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.052076700000000004 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_20"/>
   <joint name="r_sole_skin_20_fixed_joint" type="fixed">
-    <origin xyz="-0.037719200000000015 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.03771920000000001 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_21"/>
   <joint name="r_sole_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.03577849999999998 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.03577849999999999 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_21"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_22"/>
   <joint name="r_sole_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.02774479999999999 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.027744799999999997 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_22"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_24"/>
   <joint name="r_sole_skin_24_fixed_joint" type="fixed">
-    <origin xyz="-0.004987200000000004 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.004987199999999997 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_24"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_25"/>
   <joint name="r_sole_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.013387199999999995 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.013387200000000002 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_25"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_26"/>
   <joint name="r_sole_skin_26_fixed_joint" type="fixed">
-    <origin xyz="0.017404099999999985 0.0133722 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.017404099999999992 0.0133722 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_26"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_27"/>
   <joint name="r_sole_skin_27_fixed_joint" type="fixed">
-    <origin xyz="0.0030464999999999798 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.0030464999999999867 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_27"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_28"/>
   <joint name="r_sole_skin_28_fixed_joint" type="fixed">
-    <origin xyz="-0.015327899999999998 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.015327899999999992 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_28"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_29"/>
   <joint name="r_sole_skin_29_fixed_joint" type="fixed">
-    <origin xyz="-0.019344800000000002 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.019344799999999995 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_29"/>
     <dynamics damping="0.1"/>
@@ -938,12 +938,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
+      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000158626" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.000206526" iyz="1.19785e-06" izz="0.000104956"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -952,15 +952,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
-    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
+    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -989,7 +989,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
+    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -1026,12 +1026,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13344e-05" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="5.86947e-05" iyz="3.92498e-06" izz="9.68353e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1040,7 +1040,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1056,7 +1056,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -1077,7 +1077,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -1086,35 +1086,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1135,14 +1135,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -1170,7 +1170,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -1191,35 +1191,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1254,19 +1254,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="5.57722e-06" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="5.29845e-06" iyz="-1.59685e-07" izz="1.87724e-06"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1275,14 +1275,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -1312,7 +1312,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -1358,12 +1358,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
+      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000159621" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.000222574" iyz="1.20112e-06" izz="0.000120056"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1372,15 +1372,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
-    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
+    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -1409,7 +1409,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
+    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -1446,7 +1446,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13352e-05" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="5.86823e-05" iyz="3.9319e-06" izz="9.68469e-05"/>
     </inertial>
@@ -1476,7 +1476,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -1497,7 +1497,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -1506,35 +1506,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1555,7 +1555,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -1576,7 +1576,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -1611,35 +1611,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1653,7 +1653,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1674,19 +1674,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="5.56774e-06" ixy="3.08362e-08" ixz="9.42153e-07" iyy="5.28838e-06" iyz="-1.58924e-07" izz="1.87579e-06"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1695,14 +1695,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1732,7 +1732,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1748,12 +1748,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1762,7 +1762,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1778,12 +1778,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0011062999999999906 1.7299999999997873e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0011062999999999976 1.730000000001175e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.415987"/>
       <inertia ixx="0.000475741" ixy="2.89355e-07" ixz="-6.72876e-08" iyy="0.000279828" iyz="6.7417e-06" izz="0.000307828"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1792,14 +1792,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
+    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1808,12 +1808,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.00012289999999999524 -0.00028229999999998534 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012290000000000217 -0.0002822999999999992 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="3.27938e-05" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="5.69957e-05" iyz="3.32338e-08" izz="3.26449e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1822,26 +1822,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008301999999999893 7.519999999998361e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008301999999999962 7.519999999999749e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868999999999982 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868999999999913 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1850,7 +1850,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1866,7 +1866,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.05125669999999999 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.051256699999999995 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1880,12 +1880,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.000999800000000002 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0009997999999999951 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1894,7 +1894,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1910,12 +1910,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015153099999999996 0.000902 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.015153099999999989 0.0009020000000000139 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447429734460005" ixy="-1.1322603878053663e-06" ixz="3.046651057758992e-05" iyy="0.0004478873540695352" iyz="2.5726583414130826e-06" izz="0.0003076030453774591"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1924,7 +1924,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1940,12 +1940,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011447000000000054 3.5999999999786203e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0011446999999999985 3.599999999992498e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.265122"/>
       <inertia ixx="0.000327222" ixy="-4.74606e-08" ixz="4.94571e-08" iyy="0.000248285" iyz="-4.29975e-06" izz="0.000150937"/>
     </inertial>
     <visual>
-      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1954,7 +1954,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1991,7 +1991,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.003499999999999996 0 -0.0605" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.003500000000000003 0 -0.0605" rpy="3.141592653589793 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2658,13 +2658,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2706,13 +2706,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2754,13 +2754,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2778,13 +2778,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2814,13 +2814,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2838,13 +2838,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2862,13 +2862,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -3004,24 +3004,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -3063,13 +3063,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
+      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
@@ -3087,178 +3087,178 @@
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07847939999999998 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
+      <pose>0.07847939999999999 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999998 -0.011812200000000009 -0.001214999999999966"/>
+    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999999 -0.011812200000000009 -0.001214999999999966"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012577000000000005 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.012577000000000012 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000005 -0.04040720000000002 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000012 -0.04040720000000002 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012574999999999996 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012575000000000003 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012574999999999996 0.04040679999999998 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575000000000003 0.04040679999999998 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.01308100000000001 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.013081000000000016 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.01308100000000001 -0.04040720000000002 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000016 -0.04040720000000002 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013078999999999993 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.013079 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999993 0.04040679999999998 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013079 0.04040679999999998 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04200169 0.03156479999999999 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
+      <pose>0.042001689999999994 0.03156479999999999 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.04200169 0.03156479999999999 0.04913199999999998"/>
+    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.042001689999999994 0.03156479999999999 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352114999999999 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352114999999998 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999999 0.007765700000000014 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999998 0.007765700000000014 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053784999999999986 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999998 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429400000000002 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999998 -0.014429400000000002 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.03412954999999999 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412954999999998 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999999 -0.0414999 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999998 -0.0414999 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378499999999999 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.043785 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999999 0.017810999999999994 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043785 0.017810999999999994 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785000000000004 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.04378500000000001 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785000000000004 -0.014191800000000011 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378500000000001 -0.014191800000000011 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.043513791999999996 0.011314499999999963 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04351379199999999 0.011314499999999963 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.043513791999999996 0.011314499999999963 -0.09276499999999999"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351379199999999 0.011314499999999963 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.044503353999999995 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04450335399999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503353999999995 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450335399999999 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05313352999999999 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.053133529999999984 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313352999999999 0.017184099999999994 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133529999999984 0.017184099999999994 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
@@ -3276,25 +3276,25 @@
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915200000000003 0.04274479999999997 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
+      <pose>0.025915199999999996 0.04274479999999997 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.025915200000000003 0.04274479999999997 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915199999999996 0.04274479999999997 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999984 -0.041718700000000025 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
+      <pose>0.018459299999999977 -0.041718700000000025 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999984 -0.041718700000000025 -0.09295800000000004"/>
+    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999977 -0.041718700000000025 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
@@ -3368,45 +3368,45 @@
     <sensor name="l_upper_leg_ft_acc_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_acc_3b12" type="accelerometer">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_hip_2">
     <sensor name="l_upper_leg_ft_gyro_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_gyro_3b12" type="gyroscope">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_acc_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_acc_3b13" type="accelerometer">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_gyro_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_gyro_3b13" type="gyroscope">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
   </sensor>
   <gazebo>
     <pose>0.0 0.0 0.63 0.0 0.0 3.14</pose>
diff --git a/iCub/robots/iCubGazeboV2_5/model.urdf b/iCub/robots/iCubGazeboV2_5/model.urdf
index 332206e..a2fd141 100644
--- a/iCub/robots/iCubGazeboV2_5/model.urdf
+++ b/iCub/robots/iCubGazeboV2_5/model.urdf
@@ -23,12 +23,12 @@
   </link>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -37,7 +37,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -199,7 +199,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
+    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -213,7 +213,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
+    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -241,7 +241,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
+    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -269,21 +269,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
+    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
+    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
+    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -318,14 +318,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
+    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
+    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -339,21 +339,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
+    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
+    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
+    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -374,14 +374,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
+    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
+    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -402,7 +402,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
+    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -416,7 +416,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
+    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -511,12 +511,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.03360009999999998 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.033600099999999994 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.382866"/>
       <inertia ixx="0.00120946" ixy="3.74585e-07" ixz="-5.78759e-05" iyy="0.00141439" iyz="-7.80325e-06" izz="0.000273599"/>
     </inertial>
     <visual>
-      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -539,14 +539,14 @@
   </joint>
   <link name="r_sole"/>
   <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.003499999999999996 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
+    <origin xyz="0.003500000000000003 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_0"/>
   <joint name="r_sole_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.06047669999999999 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.060476699999999994 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_0"/>
     <dynamics damping="0.1"/>
@@ -560,14 +560,14 @@
   </joint>
   <link name="r_sole_skin_2"/>
   <joint name="r_sole_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.09320869999999998 -0.032368 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.09320869999999999 -0.032368 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_3"/>
   <joint name="r_sole_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.11158309999999996 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.11158309999999998 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_3"/>
     <dynamics damping="0.1"/>
@@ -609,112 +609,112 @@
   </joint>
   <link name="r_sole_skin_12"/>
   <joint name="r_sole_skin_12_fixed_joint" type="fixed">
-    <origin xyz="0.08286799999999997 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.08286799999999998 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_12"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_13"/>
   <joint name="r_sole_skin_13_fixed_joint" type="fixed">
-    <origin xyz="0.10124239999999997 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.10124239999999998 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_13"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_14"/>
   <joint name="r_sole_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05013603999999998 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.050136039999999986 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_14"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_15"/>
   <joint name="r_sole_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.046119189999999984 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.04611918999999999 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_17"/>
   <joint name="r_sole_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.029685499999999997 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.02968549999999999 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_18"/>
   <joint name="r_sole_skin_18_fixed_joint" type="fixed">
-    <origin xyz="-0.04805990000000001 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.0480599 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_18"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_19"/>
   <joint name="r_sole_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.05207670000000001 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.052076700000000004 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_20"/>
   <joint name="r_sole_skin_20_fixed_joint" type="fixed">
-    <origin xyz="-0.037719200000000015 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.03771920000000001 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_21"/>
   <joint name="r_sole_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.03577849999999998 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.03577849999999999 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_21"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_22"/>
   <joint name="r_sole_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.02774479999999999 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.027744799999999997 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_22"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_24"/>
   <joint name="r_sole_skin_24_fixed_joint" type="fixed">
-    <origin xyz="-0.004987200000000004 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.004987199999999997 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_24"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_25"/>
   <joint name="r_sole_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.013387199999999995 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.013387200000000002 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_25"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_26"/>
   <joint name="r_sole_skin_26_fixed_joint" type="fixed">
-    <origin xyz="0.017404099999999985 0.0133722 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.017404099999999992 0.0133722 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_26"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_27"/>
   <joint name="r_sole_skin_27_fixed_joint" type="fixed">
-    <origin xyz="0.0030464999999999798 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.0030464999999999867 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_27"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_28"/>
   <joint name="r_sole_skin_28_fixed_joint" type="fixed">
-    <origin xyz="-0.015327899999999998 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.015327899999999992 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_28"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_29"/>
   <joint name="r_sole_skin_29_fixed_joint" type="fixed">
-    <origin xyz="-0.019344800000000002 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.019344799999999995 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_29"/>
     <dynamics damping="0.1"/>
@@ -938,12 +938,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
+      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.01" iyz="1.19785e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -952,15 +952,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
-    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
+    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -989,7 +989,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
+    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -1026,12 +1026,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="0.01" iyz="3.92498e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1040,7 +1040,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1056,7 +1056,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -1077,7 +1077,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -1086,35 +1086,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1135,14 +1135,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -1170,7 +1170,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -1191,35 +1191,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1254,19 +1254,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="0.01" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="0.01" iyz="-1.59685e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1275,14 +1275,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -1312,7 +1312,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -1358,12 +1358,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
+      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.01" iyz="1.20112e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1372,15 +1372,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
-    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
+    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -1409,7 +1409,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
+    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -1446,7 +1446,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="0.01" iyz="3.9319e-06" izz="0.01"/>
     </inertial>
@@ -1476,7 +1476,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -1497,7 +1497,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -1506,35 +1506,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1555,7 +1555,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -1576,7 +1576,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -1611,35 +1611,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1653,7 +1653,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1674,19 +1674,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="0.01" ixy="3.08362e-08" ixz="9.42153e-07" iyy="0.01" iyz="-1.58924e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1695,14 +1695,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1732,7 +1732,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1748,12 +1748,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1762,7 +1762,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1778,12 +1778,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0011062999999999906 1.7299999999997873e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0011062999999999976 1.730000000001175e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.415987"/>
       <inertia ixx="0.000475741" ixy="2.89355e-07" ixz="-6.72876e-08" iyy="0.000279828" iyz="6.7417e-06" izz="0.000307828"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1792,14 +1792,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
+    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1808,12 +1808,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.00012289999999999524 -0.00028229999999998534 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012290000000000217 -0.0002822999999999992 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="0.01" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="0.01" iyz="3.32338e-08" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1822,26 +1822,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008301999999999893 7.519999999998361e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008301999999999962 7.519999999999749e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868999999999982 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868999999999913 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1850,7 +1850,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1866,7 +1866,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.05125669999999999 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.051256699999999995 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1880,12 +1880,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.000999800000000002 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0009997999999999951 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1894,7 +1894,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1910,12 +1910,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015153099999999996 0.000902 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.015153099999999989 0.0009020000000000139 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447429734460005" ixy="-1.1322603878053663e-06" ixz="3.046651057758992e-05" iyy="0.0004478873540695352" iyz="2.5726583414130826e-06" izz="0.0003076030453774591"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1924,7 +1924,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1940,12 +1940,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011447000000000054 3.5999999999786203e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0011446999999999985 3.599999999992498e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.265122"/>
       <inertia ixx="0.01" ixy="-4.74606e-08" ixz="4.94571e-08" iyy="0.01" iyz="-4.29975e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1954,7 +1954,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1991,7 +1991,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.003499999999999996 0 -0.0605" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.003500000000000003 0 -0.0605" rpy="3.141592653589793 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2658,13 +2658,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2706,13 +2706,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2754,13 +2754,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2778,13 +2778,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2814,13 +2814,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2838,13 +2838,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2862,13 +2862,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -3004,24 +3004,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -3063,13 +3063,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
+      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
@@ -3087,178 +3087,178 @@
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07847939999999998 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
+      <pose>0.07847939999999999 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999998 -0.011812200000000009 -0.001214999999999966"/>
+    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999999 -0.011812200000000009 -0.001214999999999966"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012577000000000005 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.012577000000000012 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000005 -0.04040720000000002 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000012 -0.04040720000000002 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012574999999999996 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012575000000000003 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012574999999999996 0.04040679999999998 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575000000000003 0.04040679999999998 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.01308100000000001 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.013081000000000016 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.01308100000000001 -0.04040720000000002 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000016 -0.04040720000000002 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013078999999999993 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.013079 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999993 0.04040679999999998 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013079 0.04040679999999998 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04200169 0.03156479999999999 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
+      <pose>0.042001689999999994 0.03156479999999999 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.04200169 0.03156479999999999 0.04913199999999998"/>
+    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.042001689999999994 0.03156479999999999 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352114999999999 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352114999999998 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999999 0.007765700000000014 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999998 0.007765700000000014 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053784999999999986 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999998 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429400000000002 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999998 -0.014429400000000002 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.03412954999999999 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412954999999998 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999999 -0.0414999 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999998 -0.0414999 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378499999999999 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.043785 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999999 0.017810999999999994 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043785 0.017810999999999994 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785000000000004 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.04378500000000001 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785000000000004 -0.014191800000000011 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378500000000001 -0.014191800000000011 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.043513791999999996 0.011314499999999963 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04351379199999999 0.011314499999999963 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.043513791999999996 0.011314499999999963 -0.09276499999999999"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351379199999999 0.011314499999999963 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.044503353999999995 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04450335399999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503353999999995 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450335399999999 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05313352999999999 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.053133529999999984 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313352999999999 0.017184099999999994 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133529999999984 0.017184099999999994 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
@@ -3276,25 +3276,25 @@
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915200000000003 0.04274479999999997 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
+      <pose>0.025915199999999996 0.04274479999999997 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.025915200000000003 0.04274479999999997 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915199999999996 0.04274479999999997 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999984 -0.041718700000000025 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
+      <pose>0.018459299999999977 -0.041718700000000025 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999984 -0.041718700000000025 -0.09295800000000004"/>
+    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999977 -0.041718700000000025 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
@@ -3368,45 +3368,45 @@
     <sensor name="l_upper_leg_ft_acc_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_acc_3b12" type="accelerometer">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_hip_2">
     <sensor name="l_upper_leg_ft_gyro_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_gyro_3b12" type="gyroscope">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_acc_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_acc_3b13" type="accelerometer">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_gyro_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_gyro_3b13" type="gyroscope">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
   </sensor>
   <gazebo>
     <pose>0.0 0.0 0.63 0.0 0.0 3.14</pose>
diff --git a/iCub/robots/iCubGazeboV2_5_plus/model.urdf b/iCub/robots/iCubGazeboV2_5_plus/model.urdf
index e666461..9788760 100644
--- a/iCub/robots/iCubGazeboV2_5_plus/model.urdf
+++ b/iCub/robots/iCubGazeboV2_5_plus/model.urdf
@@ -247,12 +247,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
+      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.01" iyz="1.19785e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -261,15 +261,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
-    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
+    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -298,7 +298,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
+    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -335,12 +335,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="0.01" iyz="3.92498e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -349,7 +349,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -365,7 +365,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -386,7 +386,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -395,35 +395,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -444,14 +444,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -479,7 +479,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -500,35 +500,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -542,7 +542,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -563,19 +563,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="0.01" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="0.01" iyz="-1.59685e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -584,14 +584,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -621,7 +621,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -667,12 +667,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
+      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.01" iyz="1.20112e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -681,15 +681,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
-    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
+    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -718,7 +718,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
+    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -755,7 +755,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="0.01" iyz="3.9319e-06" izz="0.01"/>
     </inertial>
@@ -785,7 +785,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -806,7 +806,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -815,35 +815,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -864,7 +864,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -885,7 +885,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -920,35 +920,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -962,7 +962,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -983,19 +983,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="0.01" ixy="3.08362e-08" ixz="9.42153e-07" iyy="0.01" iyz="-1.58924e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1004,14 +1004,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1041,7 +1041,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1057,12 +1057,12 @@
   </joint>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1071,7 +1071,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.058310299999999995 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
+    <origin xyz="0.058310299999999995 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1247,7 +1247,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208552 0.03044339999999998 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
+    <origin xyz="0.05208552 0.03044339999999998 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -1275,7 +1275,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999999 -0.03117600000000001 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
+    <origin xyz="0.05504769999999999 -0.03117600000000001 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -1303,21 +1303,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.035753400000000005 0.04106279999999999 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
+    <origin xyz="0.035753400000000005 0.04106279999999999 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.023441900000000012 0.04799079999999998 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
+    <origin xyz="0.023441900000000012 0.04799079999999998 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.02427040000000001 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
+    <origin xyz="0.02427040000000001 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -1352,14 +1352,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.047748659999999984 -0.031231999999999996 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
+    <origin xyz="0.047748659999999984 -0.031231999999999996 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322408999999999 -0.01560180000000004 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
+    <origin xyz="0.05322408999999999 -0.01560180000000004 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -1373,21 +1373,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880466999999999 -0.031263 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
+    <origin xyz="0.04880466999999999 -0.031263 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999999 -0.01591290000000002 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
+    <origin xyz="0.05660089999999999 -0.01591290000000002 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.057010599999999995 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
+    <origin xyz="0.057010599999999995 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -1408,14 +1408,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641629999999995 0.01763889999999997 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
+    <origin xyz="0.052641629999999995 0.01763889999999997 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113137 0.032438499999999953 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
+    <origin xyz="0.04113137 0.032438499999999953 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -1436,7 +1436,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998319999999995 0.0012663999999999592 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
+    <origin xyz="0.052998319999999995 0.0012663999999999592 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -1450,7 +1450,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127079999999986 -0.030749000000000026 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
+    <origin xyz="0.045127079999999986 -0.030749000000000026 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -1485,12 +1485,12 @@
   </joint>
   <link name="r_ankle_1">
     <inertial>
-      <origin xyz="0.015143405473968821 -0.0008685000000000082 4.2859082720503316e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.015143405473968807 -0.0008685000000000082 4.2859082720503316e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.6803"/>
       <inertia ixx="0.0004046207392315529" ixy="8.523488844593136e-06" ixz="-2.8913590319053794e-05" iyy="0.0004379396781535379" iyz="3.7330395179426065e-05" izz="0.00031892819418424145"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272424511754 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424511755 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1499,7 +1499,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272424511754 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424511755 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1515,12 +1515,12 @@
   </joint>
   <link name="r_ankle_2">
     <inertial>
-      <origin xyz="0.0011452157753235187 -8.299999999988872e-06 -0.038511854107377785" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.0011452157753235048 -8.299999999988872e-06 -0.038511854107377785" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.265337"/>
       <inertia ixx="0.01" ixy="-7.94989e-08" ixz="8.24551e-09" iyy="0.01" iyz="2.0701e-05" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272442308744 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442308745 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1529,7 +1529,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272442308744 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442308745 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1537,7 +1537,7 @@
   </link>
   <joint name="r_ankle_roll" type="revolute">
     <origin xyz="0 0 0" rpy="0 0 0"/>
-    <axis xyz="-1.0000001561184808 -6.013654019199066e-16 1.1979394973216095e-07"/>
+    <axis xyz="-1.0000001561184808 -6.013654019199066e-16 1.197939497389039e-07"/>
     <parent link="r_ankle_1"/>
     <child link="r_ankle_2"/>
     <limit effort="37.0" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="7.64"/>
@@ -1545,12 +1545,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.039779742643594365 0.004553699994905444 -0.006311816589999797" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
+      <origin xyz="0.039779742643594365 0.004553699994905444 -0.006311816589999797" rpy="-1.832595507822573 0 -1.5707963267948983"/>
       <mass value="0.357881"/>
       <inertia ixx="0.00109611" ixy="-2.9193e-07" ixz="-3.70109e-05" iyy="0.00125706" iyz="5.10952e-06" izz="0.000215359"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
+      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.832595507822573 0 -1.5707963267948983"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1566,7 +1566,7 @@
     </collision>
   </link>
   <joint name="r_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.0034999280659716026 0 -0.060500343280208146" rpy="3.141592652417863 0 0"/>
+    <origin xyz="-0.0034999280659716164 0 -0.060500343280208146" rpy="3.141592652417863 0 0"/>
     <parent link="r_ankle_2"/>
     <child link="r_foot"/>
     <dynamics damping="0.1"/>
@@ -1580,12 +1580,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1594,7 +1594,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1610,12 +1610,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0015761999999999929 -1.940000000000275e-05 -0.04405299999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0015761999999999998 -1.939999999998887e-05 -0.04405299999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.421106"/>
       <inertia ixx="0.000494284" ixy="1.5483e-07" ixz="-1.86308e-07" iyy="0.000288736" iyz="1.52962e-05" izz="0.000319008"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1624,14 +1624,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
+    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1640,12 +1640,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.00012299999999999117 -0.0002823000000000131 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.0001229999999999981 -0.000282300000000027 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="0.01" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="0.01" iyz="3.32338e-08" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.043708999809320984 0.07010000000001014 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370899980932098 0.07010000000001013 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1654,26 +1654,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.043708999809320984 0.07010000000001014 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370899980932098 0.07010000000001013 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008574999999999972 0 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008575000000000041 0 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868000000000092 0.00010179999999999911 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868000000000023 0.00010179999999999911 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.043708999809320984 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980932098 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1682,7 +1682,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.043708999809320984 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980932098 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1698,7 +1698,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.051256699999999975 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.05125669999999998 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1712,12 +1712,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.000999700000000013 0.0034968999999999834 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0009997000000000061 0.0034968999999999834 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370899980931699 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980931698 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1726,7 +1726,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370899980931699 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980931698 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1742,12 +1742,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015152971856010347 0.0009021000000000029 4.2316556559285345e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.015152971856010333 0.0009021000000000029 4.2316556559285345e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447618553062084" ixy="-8.97867775831874e-06" ixz="2.9134846047326194e-05" iyy="0.00043720150287133953" iyz="3.730206268073148e-05" izz="0.00031828795462876227"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272424516862 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424516864 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1756,7 +1756,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272424516862 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424516864 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1772,12 +1772,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011452157753235465 -8.299999999974994e-06 -0.038511854107377674" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.0011452157753235326 -8.299999999974994e-06 -0.038511854107377674" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.265337"/>
       <inertia ixx="0.01" ixy="-7.94989e-08" ixz="8.24551e-09" iyy="0.01" iyz="2.0701e-05" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272442313177 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442313178 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1786,7 +1786,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272442313177 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442313178 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1794,7 +1794,7 @@
   </link>
   <joint name="l_ankle_roll" type="revolute">
     <origin xyz="0 0 0" rpy="0 0 0"/>
-    <axis xyz="1.0000001561184808 6.013654019199066e-16 -1.1979394973216095e-07"/>
+    <axis xyz="1.0000001561184808 6.013654019199066e-16 -1.197939497389039e-07"/>
     <parent link="l_ankle_1"/>
     <child link="l_ankle_2"/>
     <limit effort="37.0" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="7.64"/>
@@ -1823,7 +1823,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.0034999280659716026 0 -0.060500343280208146" rpy="-3.141592643239301 0 0"/>
+    <origin xyz="-0.0034999280659716164 0 -0.060500343280208146" rpy="-3.141592643239301 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2315,13 +2315,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2363,13 +2363,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2411,13 +2411,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2435,13 +2435,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2471,13 +2471,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2495,13 +2495,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2519,13 +2519,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -2661,24 +2661,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351373 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04351373 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351373 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351373 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.044503292 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.044503292 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
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   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -2696,13 +2696,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0537517 0.01572289999999999 -0.0043179999999999885 -1.5707962918765586 -1.5706802104434696 -1.2217307215014315</pose>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b9" type="accelerometer">
     <parent link="r_lower_leg"/>
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   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b10" type="imu">
@@ -2720,238 +2720,238 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.01648010000000001 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
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     <sensor name="r_foot_mtb_acc_11b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b12" type="accelerometer">
     <parent link="r_foot"/>
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   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
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   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
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     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
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       <update_rate>100</update_rate>
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     <parent link="l_upper_leg"/>
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   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
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   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.01307899999999998 0.040407 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
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   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
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   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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     <parent link="l_upper_leg"/>
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     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
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     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
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     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
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       <always_on>1</always_on>
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-      <pose>0.02591510000000001 0.042743999999999976 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
+      <pose>0.025915100000000003 0.042743999999999976 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.02591510000000001 0.042743999999999976 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915100000000003 0.042743999999999976 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999994 -0.04171870000000001 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
+      <pose>0.018459299999999988 -0.04171870000000001 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999994 -0.04171870000000001 -0.09295800000000004"/>
+    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999988 -0.04171870000000001 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
diff --git a/iCub/robots/iCubGazeboV2_6/model.urdf b/iCub/robots/iCubGazeboV2_6/model.urdf
index cdfb5bb..4024cab 100644
--- a/iCub/robots/iCubGazeboV2_6/model.urdf
+++ b/iCub/robots/iCubGazeboV2_6/model.urdf
@@ -23,12 +23,12 @@
   </link>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -37,7 +37,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -199,7 +199,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
+    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -213,7 +213,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
+    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -241,7 +241,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
+    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -269,21 +269,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
+    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
+    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
+    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -318,14 +318,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
+    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
+    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -339,21 +339,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
+    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
+    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
+    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -374,14 +374,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
+    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
+    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -402,7 +402,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
+    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -416,7 +416,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
+    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -511,12 +511,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.03360009999999998 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.033600099999999994 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.382866"/>
       <inertia ixx="0.00120946" ixy="3.74585e-07" ixz="-5.78759e-05" iyy="0.00141439" iyz="-7.80325e-06" izz="0.000273599"/>
     </inertial>
     <visual>
-      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -539,14 +539,14 @@
   </joint>
   <link name="r_sole"/>
   <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.003499999999999996 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
+    <origin xyz="0.003500000000000003 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_0"/>
   <joint name="r_sole_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.06047669999999999 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.060476699999999994 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_0"/>
     <dynamics damping="0.1"/>
@@ -560,14 +560,14 @@
   </joint>
   <link name="r_sole_skin_2"/>
   <joint name="r_sole_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.09320869999999998 -0.032368 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.09320869999999999 -0.032368 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_3"/>
   <joint name="r_sole_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.11158309999999996 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.11158309999999998 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_3"/>
     <dynamics damping="0.1"/>
@@ -609,112 +609,112 @@
   </joint>
   <link name="r_sole_skin_12"/>
   <joint name="r_sole_skin_12_fixed_joint" type="fixed">
-    <origin xyz="0.08286799999999997 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.08286799999999998 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_12"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_13"/>
   <joint name="r_sole_skin_13_fixed_joint" type="fixed">
-    <origin xyz="0.10124239999999997 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.10124239999999998 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_13"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_14"/>
   <joint name="r_sole_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05013603999999998 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.050136039999999986 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_14"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_15"/>
   <joint name="r_sole_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.046119189999999984 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.04611918999999999 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_17"/>
   <joint name="r_sole_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.029685499999999997 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.02968549999999999 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_18"/>
   <joint name="r_sole_skin_18_fixed_joint" type="fixed">
-    <origin xyz="-0.04805990000000001 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.0480599 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_18"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_19"/>
   <joint name="r_sole_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.05207670000000001 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.052076700000000004 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_20"/>
   <joint name="r_sole_skin_20_fixed_joint" type="fixed">
-    <origin xyz="-0.037719200000000015 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.03771920000000001 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_21"/>
   <joint name="r_sole_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.03577849999999998 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.03577849999999999 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_21"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_22"/>
   <joint name="r_sole_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.02774479999999999 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.027744799999999997 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_22"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_24"/>
   <joint name="r_sole_skin_24_fixed_joint" type="fixed">
-    <origin xyz="-0.004987200000000004 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.004987199999999997 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_24"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_25"/>
   <joint name="r_sole_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.013387199999999995 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.013387200000000002 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_25"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_26"/>
   <joint name="r_sole_skin_26_fixed_joint" type="fixed">
-    <origin xyz="0.017404099999999985 0.0133722 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.017404099999999992 0.0133722 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_26"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_27"/>
   <joint name="r_sole_skin_27_fixed_joint" type="fixed">
-    <origin xyz="0.0030464999999999798 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.0030464999999999867 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_27"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_28"/>
   <joint name="r_sole_skin_28_fixed_joint" type="fixed">
-    <origin xyz="-0.015327899999999998 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.015327899999999992 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_28"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_29"/>
   <joint name="r_sole_skin_29_fixed_joint" type="fixed">
-    <origin xyz="-0.019344800000000002 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.019344799999999995 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_29"/>
     <dynamics damping="0.1"/>
@@ -938,12 +938,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
+      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.01" iyz="1.19785e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -952,15 +952,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
-    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
+    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -989,7 +989,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
+    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -1026,12 +1026,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="0.01" iyz="3.92498e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1040,7 +1040,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1056,7 +1056,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -1077,7 +1077,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -1086,35 +1086,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1135,14 +1135,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -1170,7 +1170,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -1191,35 +1191,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1254,19 +1254,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="0.01" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="0.01" iyz="-1.59685e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1275,14 +1275,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -1312,7 +1312,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -1358,12 +1358,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
+      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.01" iyz="1.20112e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1372,15 +1372,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
-    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
+    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -1409,7 +1409,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
+    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -1446,7 +1446,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="0.01" iyz="3.9319e-06" izz="0.01"/>
     </inertial>
@@ -1476,7 +1476,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -1497,7 +1497,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -1506,35 +1506,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1555,7 +1555,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -1576,7 +1576,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -1611,35 +1611,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1653,7 +1653,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1674,19 +1674,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="0.01" ixy="3.08362e-08" ixz="9.42153e-07" iyy="0.01" iyz="-1.58924e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1695,14 +1695,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1732,7 +1732,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1748,12 +1748,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1762,7 +1762,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1778,12 +1778,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0011062999999999906 1.7299999999997873e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0011062999999999976 1.730000000001175e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.415987"/>
       <inertia ixx="0.000475741" ixy="2.89355e-07" ixz="-6.72876e-08" iyy="0.000279828" iyz="6.7417e-06" izz="0.000307828"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1792,14 +1792,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
+    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1808,12 +1808,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.00012289999999999524 -0.00028229999999998534 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012290000000000217 -0.0002822999999999992 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="0.01" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="0.01" iyz="3.32338e-08" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1822,26 +1822,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008301999999999893 7.519999999998361e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008301999999999962 7.519999999999749e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868999999999982 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868999999999913 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1850,7 +1850,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1866,7 +1866,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.05125669999999999 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.051256699999999995 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1880,12 +1880,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.000999800000000002 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0009997999999999951 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1894,7 +1894,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1910,12 +1910,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015153099999999996 0.000902 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.015153099999999989 0.0009020000000000139 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447429734460005" ixy="-1.1322603878053663e-06" ixz="3.046651057758992e-05" iyy="0.0004478873540695352" iyz="2.5726583414130826e-06" izz="0.0003076030453774591"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1924,7 +1924,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1940,12 +1940,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011447000000000054 3.5999999999786203e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0011446999999999985 3.599999999992498e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.265122"/>
       <inertia ixx="0.01" ixy="-4.74606e-08" ixz="4.94571e-08" iyy="0.01" iyz="-4.29975e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1954,7 +1954,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1991,7 +1991,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.003499999999999996 0 -0.0605" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.003500000000000003 0 -0.0605" rpy="3.141592653589793 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2658,13 +2658,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2706,13 +2706,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2754,13 +2754,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2778,13 +2778,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2814,13 +2814,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2838,13 +2838,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2862,13 +2862,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -3004,24 +3004,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -3063,13 +3063,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
+      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
@@ -3087,178 +3087,178 @@
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07847939999999998 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
+      <pose>0.07847939999999999 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999998 -0.011812200000000009 -0.001214999999999966"/>
+    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999999 -0.011812200000000009 -0.001214999999999966"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012577000000000005 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.012577000000000012 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000005 -0.04040720000000002 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000012 -0.04040720000000002 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012574999999999996 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012575000000000003 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012574999999999996 0.04040679999999998 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575000000000003 0.04040679999999998 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.01308100000000001 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.013081000000000016 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.01308100000000001 -0.04040720000000002 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000016 -0.04040720000000002 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013078999999999993 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.013079 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999993 0.04040679999999998 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013079 0.04040679999999998 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04200169 0.03156479999999999 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
+      <pose>0.042001689999999994 0.03156479999999999 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.04200169 0.03156479999999999 0.04913199999999998"/>
+    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.042001689999999994 0.03156479999999999 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352114999999999 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352114999999998 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999999 0.007765700000000014 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999998 0.007765700000000014 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053784999999999986 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999998 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429400000000002 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999998 -0.014429400000000002 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.03412954999999999 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412954999999998 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999999 -0.0414999 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999998 -0.0414999 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378499999999999 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.043785 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999999 0.017810999999999994 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043785 0.017810999999999994 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785000000000004 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.04378500000000001 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785000000000004 -0.014191800000000011 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378500000000001 -0.014191800000000011 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.043513791999999996 0.011314499999999963 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04351379199999999 0.011314499999999963 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.043513791999999996 0.011314499999999963 -0.09276499999999999"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351379199999999 0.011314499999999963 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.044503353999999995 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04450335399999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503353999999995 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450335399999999 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05313352999999999 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.053133529999999984 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313352999999999 0.017184099999999994 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133529999999984 0.017184099999999994 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
@@ -3276,25 +3276,25 @@
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915200000000003 0.04274479999999997 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
+      <pose>0.025915199999999996 0.04274479999999997 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.025915200000000003 0.04274479999999997 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915199999999996 0.04274479999999997 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999984 -0.041718700000000025 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
+      <pose>0.018459299999999977 -0.041718700000000025 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999984 -0.041718700000000025 -0.09295800000000004"/>
+    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999977 -0.041718700000000025 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
@@ -3368,45 +3368,45 @@
     <sensor name="l_upper_leg_ft_acc_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_acc_3b12" type="accelerometer">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_hip_2">
     <sensor name="l_upper_leg_ft_gyro_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_gyro_3b12" type="gyroscope">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_acc_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_acc_3b13" type="accelerometer">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_gyro_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_gyro_3b13" type="gyroscope">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
   </sensor>
   <gazebo>
     <pose>0.0 0.0 0.63 0.0 0.0 3.14</pose>
diff --git a/iCub/robots/iCubGazeboV2_7/model.urdf b/iCub/robots/iCubGazeboV2_7/model.urdf
index 5d055d0..3dba975 100644
--- a/iCub/robots/iCubGazeboV2_7/model.urdf
+++ b/iCub/robots/iCubGazeboV2_7/model.urdf
@@ -23,12 +23,12 @@
   </link>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -37,7 +37,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -199,7 +199,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
+    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -213,7 +213,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
+    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -241,7 +241,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
+    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -269,21 +269,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
+    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
+    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
+    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -318,14 +318,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
+    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
+    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -339,21 +339,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
+    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
+    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
+    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -374,14 +374,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
+    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
+    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -402,7 +402,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
+    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -416,7 +416,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
+    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -511,12 +511,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.03360009999999998 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.033600099999999994 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.382866"/>
       <inertia ixx="0.00120946" ixy="3.74585e-07" ixz="-5.78759e-05" iyy="0.00141439" iyz="-7.80325e-06" izz="0.000273599"/>
     </inertial>
     <visual>
-      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -539,14 +539,14 @@
   </joint>
   <link name="r_sole"/>
   <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.003499999999999996 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
+    <origin xyz="0.003500000000000003 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_0"/>
   <joint name="r_sole_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.06047669999999999 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.060476699999999994 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_0"/>
     <dynamics damping="0.1"/>
@@ -560,14 +560,14 @@
   </joint>
   <link name="r_sole_skin_2"/>
   <joint name="r_sole_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.09320869999999998 -0.032368 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.09320869999999999 -0.032368 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_3"/>
   <joint name="r_sole_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.11158309999999996 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.11158309999999998 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_3"/>
     <dynamics damping="0.1"/>
@@ -609,112 +609,112 @@
   </joint>
   <link name="r_sole_skin_12"/>
   <joint name="r_sole_skin_12_fixed_joint" type="fixed">
-    <origin xyz="0.08286799999999997 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.08286799999999998 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_12"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_13"/>
   <joint name="r_sole_skin_13_fixed_joint" type="fixed">
-    <origin xyz="0.10124239999999997 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.10124239999999998 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_13"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_14"/>
   <joint name="r_sole_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05013603999999998 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.050136039999999986 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_14"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_15"/>
   <joint name="r_sole_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.046119189999999984 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.04611918999999999 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_17"/>
   <joint name="r_sole_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.029685499999999997 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.02968549999999999 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_18"/>
   <joint name="r_sole_skin_18_fixed_joint" type="fixed">
-    <origin xyz="-0.04805990000000001 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.0480599 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_18"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_19"/>
   <joint name="r_sole_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.05207670000000001 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.052076700000000004 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_20"/>
   <joint name="r_sole_skin_20_fixed_joint" type="fixed">
-    <origin xyz="-0.037719200000000015 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.03771920000000001 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_21"/>
   <joint name="r_sole_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.03577849999999998 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.03577849999999999 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_21"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_22"/>
   <joint name="r_sole_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.02774479999999999 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.027744799999999997 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_22"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_24"/>
   <joint name="r_sole_skin_24_fixed_joint" type="fixed">
-    <origin xyz="-0.004987200000000004 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.004987199999999997 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_24"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_25"/>
   <joint name="r_sole_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.013387199999999995 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.013387200000000002 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_25"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_26"/>
   <joint name="r_sole_skin_26_fixed_joint" type="fixed">
-    <origin xyz="0.017404099999999985 0.0133722 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.017404099999999992 0.0133722 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_26"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_27"/>
   <joint name="r_sole_skin_27_fixed_joint" type="fixed">
-    <origin xyz="0.0030464999999999798 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.0030464999999999867 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_27"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_28"/>
   <joint name="r_sole_skin_28_fixed_joint" type="fixed">
-    <origin xyz="-0.015327899999999998 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.015327899999999992 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_28"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_29"/>
   <joint name="r_sole_skin_29_fixed_joint" type="fixed">
-    <origin xyz="-0.019344800000000002 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.019344799999999995 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_29"/>
     <dynamics damping="0.1"/>
@@ -938,12 +938,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
+      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.01" iyz="1.19785e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -952,15 +952,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
-    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
+    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -989,7 +989,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
+    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -1026,12 +1026,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="0.01" iyz="3.92498e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1040,7 +1040,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1056,7 +1056,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -1077,7 +1077,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -1086,35 +1086,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1135,14 +1135,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -1170,7 +1170,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -1191,35 +1191,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1254,19 +1254,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="0.01" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="0.01" iyz="-1.59685e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1275,14 +1275,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -1312,7 +1312,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -1358,12 +1358,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
+      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.01" iyz="1.20112e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1372,15 +1372,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
-    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
+    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -1409,7 +1409,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
+    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -1446,7 +1446,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="0.01" iyz="3.9319e-06" izz="0.01"/>
     </inertial>
@@ -1476,7 +1476,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -1497,7 +1497,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -1506,35 +1506,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1555,7 +1555,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -1576,7 +1576,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -1611,35 +1611,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1653,7 +1653,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1674,19 +1674,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="0.01" ixy="3.08362e-08" ixz="9.42153e-07" iyy="0.01" iyz="-1.58924e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1695,14 +1695,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1732,7 +1732,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1748,12 +1748,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1762,7 +1762,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1778,12 +1778,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0011062999999999906 1.7299999999997873e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0011062999999999976 1.730000000001175e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.415987"/>
       <inertia ixx="0.000475741" ixy="2.89355e-07" ixz="-6.72876e-08" iyy="0.000279828" iyz="6.7417e-06" izz="0.000307828"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1792,14 +1792,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
+    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1808,12 +1808,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.00012289999999999524 -0.00028229999999998534 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012290000000000217 -0.0002822999999999992 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="0.01" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="0.01" iyz="3.32338e-08" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1822,26 +1822,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008301999999999893 7.519999999998361e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008301999999999962 7.519999999999749e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868999999999982 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868999999999913 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1850,7 +1850,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1866,7 +1866,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.05125669999999999 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.051256699999999995 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1880,12 +1880,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.000999800000000002 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0009997999999999951 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1894,7 +1894,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1910,12 +1910,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015153099999999996 0.000902 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.015153099999999989 0.0009020000000000139 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447429734460005" ixy="-1.1322603878053663e-06" ixz="3.046651057758992e-05" iyy="0.0004478873540695352" iyz="2.5726583414130826e-06" izz="0.0003076030453774591"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1924,7 +1924,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1940,12 +1940,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011447000000000054 3.5999999999786203e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0011446999999999985 3.599999999992498e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.265122"/>
       <inertia ixx="0.01" ixy="-4.74606e-08" ixz="4.94571e-08" iyy="0.01" iyz="-4.29975e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1954,7 +1954,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1991,7 +1991,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.003499999999999996 0 -0.0605" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.003500000000000003 0 -0.0605" rpy="3.141592653589793 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2674,13 +2674,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2722,13 +2722,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2770,13 +2770,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2794,13 +2794,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2830,13 +2830,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2854,13 +2854,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2878,13 +2878,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -3020,24 +3020,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -3079,13 +3079,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
+      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
@@ -3103,178 +3103,178 @@
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07847939999999998 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
+      <pose>0.07847939999999999 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999998 -0.011812200000000009 -0.001214999999999966"/>
+    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999999 -0.011812200000000009 -0.001214999999999966"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012577000000000005 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.012577000000000012 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000005 -0.04040720000000002 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000012 -0.04040720000000002 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012574999999999996 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012575000000000003 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012574999999999996 0.04040679999999998 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575000000000003 0.04040679999999998 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.01308100000000001 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.013081000000000016 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.01308100000000001 -0.04040720000000002 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000016 -0.04040720000000002 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013078999999999993 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.013079 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999993 0.04040679999999998 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013079 0.04040679999999998 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04200169 0.03156479999999999 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
+      <pose>0.042001689999999994 0.03156479999999999 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.04200169 0.03156479999999999 0.04913199999999998"/>
+    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.042001689999999994 0.03156479999999999 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352114999999999 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352114999999998 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999999 0.007765700000000014 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999998 0.007765700000000014 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053784999999999986 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999998 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429400000000002 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999998 -0.014429400000000002 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.03412954999999999 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412954999999998 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999999 -0.0414999 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999998 -0.0414999 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378499999999999 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.043785 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999999 0.017810999999999994 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043785 0.017810999999999994 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785000000000004 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.04378500000000001 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785000000000004 -0.014191800000000011 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378500000000001 -0.014191800000000011 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.043513791999999996 0.011314499999999963 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04351379199999999 0.011314499999999963 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.043513791999999996 0.011314499999999963 -0.09276499999999999"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351379199999999 0.011314499999999963 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.044503353999999995 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04450335399999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503353999999995 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450335399999999 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05313352999999999 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.053133529999999984 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313352999999999 0.017184099999999994 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133529999999984 0.017184099999999994 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
@@ -3292,25 +3292,25 @@
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915200000000003 0.04274479999999997 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
+      <pose>0.025915199999999996 0.04274479999999997 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.025915200000000003 0.04274479999999997 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915199999999996 0.04274479999999997 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999984 -0.041718700000000025 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
+      <pose>0.018459299999999977 -0.041718700000000025 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999984 -0.041718700000000025 -0.09295800000000004"/>
+    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999977 -0.041718700000000025 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
@@ -3384,45 +3384,45 @@
     <sensor name="l_upper_leg_ft_acc_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_acc_3b12" type="accelerometer">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_hip_2">
     <sensor name="l_upper_leg_ft_gyro_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_gyro_3b12" type="gyroscope">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_acc_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_acc_3b13" type="accelerometer">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_gyro_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_gyro_3b13" type="gyroscope">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
   </sensor>
   <gazebo>
     <pose>0.0 0.0 0.63 0.0 0.0 3.14</pose>
diff --git a/iCub/robots/iCubGazeboV3/model.urdf b/iCub/robots/iCubGazeboV3/model.urdf
index d2a42a8..b1a7b55 100644
--- a/iCub/robots/iCubGazeboV3/model.urdf
+++ b/iCub/robots/iCubGazeboV3/model.urdf
@@ -398,12 +398,12 @@
   </joint>
   <link name="l_shoulder_1">
     <inertial>
-      <origin xyz="0.0002918276617865645 0.05723090680782866 0.0005026028232598713" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
+      <origin xyz="0.0002918276617865645 0.05723090680782866 0.0005026028232598678" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
       <mass value="1.45562"/>
       <inertia ixx="0.01" ixy="0.000611891" ixz="0.000565594" iyy="0.01" iyz="-0.000159546" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.030411223823216205 -0.02914047750374663 0.019095766539677896" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
+      <origin xyz="0.030411223823216205 -0.02914047750374663 0.019095766539677893" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -412,7 +412,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.030411223823216205 -0.02914047750374663 0.019095766539677896" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
+      <origin xyz="0.030411223823216205 -0.02914047750374663 0.019095766539677893" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -420,7 +420,7 @@
   </link>
   <joint name="l_shoulder_pitch" type="revolute">
     <origin xyz="-0.020835100000000002 0.0397423 0.1052029" rpy="0.25326162380993705 -1.1977334179319483e-07 -0.26179930184968747"/>
-    <axis xyz="3.323079797673039e-07 0.9999999783534342 1.4452224303407313e-07"/>
+    <axis xyz="3.323079797554136e-07 0.9999999783534342 1.4452224303420037e-07"/>
     <parent link="chest"/>
     <child link="l_shoulder_1"/>
     <limit effort="50000" lower="-1.53588974175501" upper="0.22689280275926285" velocity="120.0"/>
@@ -428,12 +428,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.0032933620254868984 0.0002563804707528261 -0.027865685757097337" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.003293362025486902 0.0002563804707528261 -0.027865685757097337" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <mass value="0.322126"/>
       <inertia ixx="0.01" ixy="-3.5032e-05" ixz="-2.4436e-05" iyy="0.01" iyz="-5.52877e-05" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.026393097869193412 -0.14153112610649204 -0.007252397644602138" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.026393097869193385 -0.14153112610649207 -0.007252397644602134" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -442,15 +442,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.026393097869193412 -0.14153112610649204 -0.007252397644602138" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.026393097869193385 -0.14153112610649207 -0.007252397644602134" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="0.004992849331690818 0.111499838456099 0.0002686502277366859" rpy="-0.17453296140985 -0.05374759931933852 0"/>
-    <axis xyz="0.9999998262417684 2.0348252649342313e-07 -4.0230228454118944e-08"/>
+    <origin xyz="0.004992849331690818 0.111499838456099 0.00026865022773668243" rpy="-0.17453296140985003 -0.05374759931933849 0"/>
+    <axis xyz="0.9999998262417685 2.0348252625938444e-07 -4.023022846062156e-08"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.20943951023931956" upper="2.792526803190927" velocity="120.0"/>
@@ -458,12 +458,12 @@
   </joint>
   <link name="l_shoulder_3">
     <inertial>
-      <origin xyz="-4.41626402200232e-06 9.587749727052453e-05 -0.007326213473011087" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="-4.416264022005789e-06 9.587749727052453e-05 -0.007326213473011087" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <mass value="0.256128"/>
       <inertia ixx="0.01" ixy="-3.76336e-07" ixz="2.93189e-06" iyy="0.01" iyz="-3.52325e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.03074323102617175 -0.14153148936381543 0.047047641079459586" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.030743231026171717 -0.14153148936381543 0.04704764107945959" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -472,26 +472,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.03074323102617175 -0.14153148936381543 0.047047641079459586" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.030743231026171717 -0.14153148936381543 0.04704764107945959" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_arm_ft_sensor" type="fixed">
-    <origin xyz="-0.004350133156978329 3.632573233880443e-07 -0.05430003872406172" rpy="0 0 0"/>
+    <origin xyz="-0.004350133156978318 3.632573233602887e-07 -0.05430003872406172" rpy="0 0 0"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_arm">
     <inertial>
-      <origin xyz="-4.828549686676509e-06 0.0019434824578757927 -0.04747357946817407" rpy="-0.062128608300921935 0.07142689081245782 0.27099931149673573"/>
+      <origin xyz="-4.828549686676509e-06 0.0019434824578758204 -0.04747357946817407" rpy="-0.06212860830092193 0.0714268908124578 0.27099931149673545"/>
       <mass value="2.06334"/>
       <inertia ixx="0.00368146" ixy="-5.03894e-06" ixz="0.000261155" iyy="0.00382639" iyz="0.000205684" izz="0.00167002"/>
     </inertial>
     <visual>
-      <origin xyz="0.030743149468679242 -0.14153106591133105 0.06954758245258398" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.030743149468679207 -0.14153106591133105 0.06954758245258398" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -500,15 +500,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.030743149468679242 -0.14153106591133105 0.06954758245258398" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.030743149468679207 -0.14153106591133105 0.06954758245258398" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0 -4.2345248449371375e-07 -0.02249994137312443" rpy="0 0 0"/>
-    <axis xyz="2.227647404040578e-08 -4.393786245948661e-08 -1.0000002566182309"/>
+    <origin xyz="0 -4.2345248449371375e-07 -0.022499941373124423" rpy="0 0 0"/>
+    <axis xyz="2.2276474049102235e-08 -4.393786247302041e-08 -1.0000002566182309"/>
     <parent link="l_shoulder_3"/>
     <child link="l_upper_arm"/>
     <limit effort="50000" lower="-0.8726646259971648" upper="1.3962634015954636" velocity="120.0"/>
@@ -516,12 +516,12 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="-0.010241946078109292 0.0018224069895867168 -0.01508962025855548" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="-0.010241946078109288 0.0018224069895867168 -0.015089620258555453" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <mass value="0.230254"/>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_elbow_1_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -530,7 +530,7 @@
       </material>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_elbow_1_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -538,7 +538,7 @@
   </link>
   <joint name="l_elbow" type="revolute">
     <origin xyz="0.009999930234919404 -0.001499647423428896 -0.12370033753758375" rpy="0 0 0"/>
-    <axis xyz="-8.811824154381087e-08 -1.0000002733514628 4.4047361189014644e-08"/>
+    <axis xyz="-8.811824174789715e-08 -1.0000002733514628 4.404736120498342e-08"/>
     <parent link="l_upper_arm"/>
     <child link="l_elbow_1"/>
     <limit effort="50000" lower="-0.05235987755982989" upper="1.3089969389957472" velocity="120.0"/>
@@ -546,12 +546,12 @@
   </joint>
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-      <origin xyz="-0.006269874102298061 -4.68551245806359e-05 -0.030648347755607153" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_forearm_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -560,15 +560,15 @@
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       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_forearm_prt.stl" scale="0.001 0.001 0.001"/>
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   <joint name="l_wrist_prosup" type="revolute">
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-    <axis xyz="2.227647404040578e-08 -4.393786245948661e-08 -1.0000002566182309"/>
+    <origin xyz="-0.0149998706541777 0.0019996435036348514 -0.0553000635824798" rpy="0 0 0"/>
+    <axis xyz="2.2276474049102235e-08 -4.393786247302041e-08 -1.0000002566182309"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
     <limit effort="50000" lower="-1.53588974175501" upper="1.53588974175501" velocity="120.0"/>
@@ -576,12 +576,12 @@
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.014390150453737368 -0.0005083960996520587 -9.893035257668714e-05" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="-0.014390150453737368 -0.0005083960996520864 -9.893035257668714e-05" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
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+      <origin xyz="0.019143073953651328 -0.1440379572096098 0.3560476247151885" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -590,15 +590,15 @@
       </material>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
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   <joint name="l_wrist_pitch" type="revolute">
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-    <axis xyz="-0.9999998262417684 -2.0348252649342313e-07 4.0230228454118944e-08"/>
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+    <axis xyz="-0.9999998262417685 -2.0348252625938444e-07 4.023022846062156e-08"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
     <limit effort="50000" lower="-1.2217304763960306" upper="0.4363323129985824" velocity="120.0"/>
@@ -606,12 +606,12 @@
   </joint>
   <link name="l_hand">
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+      <origin xyz="0.035443195698380774 -0.13703856452803848 0.35604770325391955" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_hand_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -620,15 +620,15 @@
       </material>
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   <joint name="l_wrist_yaw" type="revolute">
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-    <axis xyz="8.811824154381087e-08 1.0000002733514628 -4.4047361189014644e-08"/>
+    <origin xyz="-0.016300121744729387 -0.006999392681571209 0" rpy="0 0 0"/>
+    <axis xyz="8.811824174789715e-08 1.0000002733514628 -4.404736120498342e-08"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
     <limit effort="50000" lower="-0.2617993877991494" upper="0.6108652381980153" velocity="120.0"/>
@@ -658,7 +658,7 @@
   </link>
   <joint name="r_shoulder_pitch" type="revolute">
     <origin xyz="-0.020835100000000002 -0.0397423 0.1052029" rpy="-0.25326164431680925 2.3014774394592079e-07 0.26179970938509745"/>
-    <axis xyz="1.499044390054707e-07 0.9999999783534812 -1.2401537036188515e-07"/>
+    <axis xyz="1.499044390098182e-07 0.9999999783534812 -1.2401537036323317e-07"/>
     <parent link="chest"/>
     <child link="r_shoulder_1"/>
     <limit effort="50000" lower="-1.53588974175501" upper="0.22689280275926285" velocity="120.0"/>
@@ -666,12 +666,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="0.0007118441514370015 -0.0002899713150672778 -0.027865575116629175" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.000711844151437005 -0.00028997131506725005 -0.027865575116629175" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -680,15 +680,15 @@
       </material>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
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   <joint name="r_shoulder_roll" type="revolute">
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+    <origin xyz="0.007489008185044645 -0.11150041046657978 0.0004027858966975245" rpy="0.17453306234069352 -0.05374779257913059 -6.132332688804098e-07"/>
+    <axis xyz="-0.9999998262417886 4.210501434612913e-08 2.4630481182686846e-08"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.20943951023931956" upper="2.792526803190927" velocity="120.0"/>
@@ -696,12 +696,12 @@
   </joint>
   <link name="r_shoulder_3">
     <inertial>
-      <origin xyz="-8.928496484206933e-05 -3.376971940446949e-05 -0.00759450025288725" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="-8.928496484206933e-05 -3.376971940446949e-05 -0.007594500252887257" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -710,26 +710,26 @@
       </material>
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   <joint name="r_arm_ft_sensor" type="fixed">
-    <origin xyz="-0.006849946385389875 2.1904996055921444e-07 -0.05429998157789099" rpy="0 0 0"/>
+    <origin xyz="-0.006849946385389872 2.1904996058697002e-07 -0.05429998157789099" rpy="0 0 0"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
     <dynamics damping="0.1"/>
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@@ -738,15 +738,15 @@
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   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="0 4.2183273077367467e-07 -0.022499941373153573" rpy="0 0 0"/>
-    <axis xyz="-3.787621790513063e-08 2.805197706068352e-08 1.0000002566182309"/>
+    <origin xyz="0 4.2183273077367467e-07 -0.02249994137315358" rpy="0 0 0"/>
+    <axis xyz="-3.787621790776764e-08 2.805197706023475e-08 1.0000002566182309"/>
     <parent link="r_shoulder_3"/>
     <child link="r_upper_arm"/>
     <limit effort="50000" lower="-0.8726646259971648" upper="1.3962634015954636" velocity="120.0"/>
@@ -754,12 +754,12 @@
   </joint>
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@@ -768,15 +768,15 @@
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   <joint name="r_elbow" type="revolute">
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-    <axis xyz="2.4949582809984105e-07 -1.0000002733514362 2.7942487004772865e-08"/>
+    <origin xyz="0.00999993192260382 0.0014996401320274133 -0.1237003374895465" rpy="0 0 0"/>
+    <axis xyz="2.4949582807394525e-07 -1.0000002733514362 2.7942487010105877e-08"/>
     <parent link="r_upper_arm"/>
     <child link="r_elbow_1"/>
     <limit effort="50000" lower="-0.05235987755982989" upper="1.3089969389957472" velocity="120.0"/>
@@ -805,8 +805,8 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
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+    <origin xyz="-0.014999869468812953 -0.0019996499053189787 -0.05530006367251966" rpy="0 0 0"/>
+    <axis xyz="-3.787621790776764e-08 2.805197706023475e-08 1.0000002566182309"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
     <limit effort="50000" lower="-1.53588974175501" upper="1.53588974175501" velocity="120.0"/>
@@ -814,12 +814,12 @@
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="-0.014389827079018234 0.0005092753390522065 -9.787315764231419e-05" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="-0.014389827079018234 0.0005092753390521787 -9.78731576423697e-05" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <mass value="0.0344005"/>
       <inertia ixx="0.01" ixy="9.19776e-07" ixz="1.47559e-08" iyy="0.01" iyz="-1.11493e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.019443109736078983 0.1440385285434042 0.35604805361754455" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.019443109736078983 0.14403852854340418 0.3560480536175445" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -828,7 +828,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.019443109736078983 0.1440385285434042 0.35604805361754455" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.019443109736078983 0.14403852854340418 0.3560480536175445" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -836,7 +836,7 @@
   </link>
   <joint name="r_wrist_pitch" type="revolute">
     <origin xyz="0.016299953353948633 -0.002007442890811839 -0.10750007971210637" rpy="0 0 0"/>
-    <axis xyz="0.9999998262417886 -4.2105014356162707e-08 -2.4630481189336084e-08"/>
+    <axis xyz="0.9999998262417886 -4.210501434612913e-08 -2.4630481182686846e-08"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
     <limit effort="50000" lower="-1.2217304763960306" upper="0.4363323129985824" velocity="120.0"/>
@@ -844,12 +844,12 @@
   </joint>
   <link name="r_hand">
     <inertial>
-      <origin xyz="0.004828314385249662 0.00615667237451184 -0.0671378028889843" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.004828314385249669 0.00615667237451184 -0.0671378028889843" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <mass value="0.264229"/>
       <inertia ixx="0.01" ixy="4.7873e-05" ixz="1.1114e-05" iyy="0.01" iyz="1.14469e-05" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.03574323261035171 0.1370391384923124 0.35604813291443793" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.03574323261035172 0.1370391384923124 0.35604813291443793" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_hand_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -858,15 +858,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.03574323261035171 0.1370391384923124 0.35604813291443793" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.03574323261035172 0.1370391384923124 0.35604813291443793" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_hand_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="continuous">
-    <origin xyz="-0.016300122874272734 0.0069993900510918194 0" rpy="0 0 0"/>
-    <axis xyz="-2.4949582809984105e-07 1.0000002733514362 -2.7942487004772865e-08"/>
+    <origin xyz="-0.016300122874272734 0.006999390051091792 0" rpy="0 0 0"/>
+    <axis xyz="-2.4949582807394525e-07 1.0000002733514362 -2.7942487010105877e-08"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
     <dynamics damping="0.1"/>
@@ -1524,7 +1524,7 @@
         <frame>sensor</frame>
         <measure_direction>child_to_parent</measure_direction>
       </force_torque>
-      <pose>-0.004350133156978329 3.632573233880443e-07 -0.05430003872406172 3.141592646862139 -3.104683320142575e-08 -1.5707962571980942</pose>
+      <pose>-0.004350133156978318 3.632573233602887e-07 -0.05430003872406172 3.141592646862139 -3.10468332187885e-08 -1.5707962571980942</pose>
       <plugin name="left_arm_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
   <yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_left_arm_ft.ini</yarpConfigurationFile>
 </plugin>
@@ -1536,7 +1536,7 @@
       <frame>sensor</frame>
       <measure_direction>child_to_parent</measure_direction>
     </force_torque>
-    <origin rpy="3.141592646862139 -3.104683320142575e-08 -1.5707962571980942" xyz="-0.004350133156978329 3.632573233880443e-07 -0.05430003872406172"/>
+    <origin rpy="3.141592646862139 -3.10468332187885e-08 -1.5707962571980942" xyz="-0.004350133156978318 3.632573233602887e-07 -0.05430003872406172"/>
   </sensor>
   <gazebo reference="r_arm_ft_sensor">
     <sensor name="r_arm_ft_sensor" type="force_torque">
@@ -1546,7 +1546,7 @@
         <frame>sensor</frame>
         <measure_direction>child_to_parent</measure_direction>
       </force_torque>
-      <pose>-0.006849946385389875 2.1904996055921444e-07 -0.05429998157789099 3.141592644717707 4.094299285979593e-08 1.5707964185756365</pose>
+      <pose>-0.006849946385389872 2.1904996058697002e-07 -0.05429998157789099 3.141592644717707 4.094299285979593e-08 1.5707964185756365</pose>
       <plugin name="right_arm_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
   <yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_right_arm_ft.ini</yarpConfigurationFile>
 </plugin>
@@ -1558,7 +1558,7 @@
       <frame>sensor</frame>
       <measure_direction>child_to_parent</measure_direction>
     </force_torque>
-    <origin rpy="3.141592644717707 4.094299285979593e-08 1.5707964185756365" xyz="-0.006849946385389875 2.1904996055921444e-07 -0.05429998157789099"/>
+    <origin rpy="3.141592644717707 4.094299285979593e-08 1.5707964185756365" xyz="-0.006849946385389872 2.1904996058697002e-07 -0.05429998157789099"/>
   </sensor>
   <gazebo reference="l_foot_front_ft_sensor">
     <sensor name="l_foot_front_ft_sensor" type="force_torque">
@@ -1734,6 +1734,20 @@
     <parent link="chest"/>
     <origin rpy="-1.5707963267948968 -0.0 -1.5707963267948968" xyz="0.0894115 -0.0115 0.09929950000000001"/>
   </sensor>
+  <gazebo reference="chest">
+    <sensor name="chest_imu_acc_1x1" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.0894115 0.0175 0.09929950000000001 -1.5707963267948968 -0.0 -1.5707963267948968</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
+    <yarpConfigurationFile>model://iCub/conf_icub3/gazebo_icub_chest_inertial.ini</yarpConfigurationFile>
+</plugin>
+    </sensor>
+  </gazebo>
+  <sensor name="chest_imu_acc_1x1" type="accelerometer">
+    <parent link="chest"/>
+    <origin rpy="-1.5707963267948968 -0.0 -1.5707963267948968" xyz="0.0894115 0.0175 0.09929950000000001"/>
+  </sensor>
   <gazebo>
     <pose>0.0 0.0 0.64 0.0 0.0 0.0</pose>
   </gazebo>
diff --git a/iCub/robots/iCubGenova01/model.urdf b/iCub/robots/iCubGenova01/model.urdf
index 1acd7d5..676aece 100644
--- a/iCub/robots/iCubGenova01/model.urdf
+++ b/iCub/robots/iCubGenova01/model.urdf
@@ -23,12 +23,12 @@
   </link>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -37,7 +37,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -199,7 +199,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
+    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -213,7 +213,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
+    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -241,7 +241,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
+    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -269,21 +269,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
+    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
+    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
+    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -318,14 +318,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
+    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
+    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -339,21 +339,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
+    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
+    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
+    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -374,14 +374,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
+    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
+    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -402,7 +402,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
+    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -416,7 +416,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
+    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -511,12 +511,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.03360009999999998 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.033600099999999994 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.382866"/>
       <inertia ixx="0.00120946" ixy="3.74585e-07" ixz="-5.78759e-05" iyy="0.00141439" iyz="-7.80325e-06" izz="0.000273599"/>
     </inertial>
     <visual>
-      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -525,7 +525,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -539,14 +539,14 @@
   </joint>
   <link name="r_sole"/>
   <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.003499999999999996 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
+    <origin xyz="0.003500000000000003 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_0"/>
   <joint name="r_sole_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.06047669999999999 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.060476699999999994 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_0"/>
     <dynamics damping="0.1"/>
@@ -560,14 +560,14 @@
   </joint>
   <link name="r_sole_skin_2"/>
   <joint name="r_sole_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.09320869999999998 -0.032368 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.09320869999999999 -0.032368 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_3"/>
   <joint name="r_sole_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.11158309999999996 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.11158309999999998 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_3"/>
     <dynamics damping="0.1"/>
@@ -609,112 +609,112 @@
   </joint>
   <link name="r_sole_skin_12"/>
   <joint name="r_sole_skin_12_fixed_joint" type="fixed">
-    <origin xyz="0.08286799999999997 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.08286799999999998 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_12"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_13"/>
   <joint name="r_sole_skin_13_fixed_joint" type="fixed">
-    <origin xyz="0.10124239999999997 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.10124239999999998 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_13"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_14"/>
   <joint name="r_sole_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05013603999999998 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.050136039999999986 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_14"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_15"/>
   <joint name="r_sole_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.046119189999999984 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.04611918999999999 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_17"/>
   <joint name="r_sole_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.029685499999999997 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.02968549999999999 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_18"/>
   <joint name="r_sole_skin_18_fixed_joint" type="fixed">
-    <origin xyz="-0.04805990000000001 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.0480599 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_18"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_19"/>
   <joint name="r_sole_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.05207670000000001 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.052076700000000004 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_20"/>
   <joint name="r_sole_skin_20_fixed_joint" type="fixed">
-    <origin xyz="-0.037719200000000015 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.03771920000000001 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_21"/>
   <joint name="r_sole_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.03577849999999998 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.03577849999999999 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_21"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_22"/>
   <joint name="r_sole_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.02774479999999999 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.027744799999999997 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_22"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_24"/>
   <joint name="r_sole_skin_24_fixed_joint" type="fixed">
-    <origin xyz="-0.004987200000000004 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.004987199999999997 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_24"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_25"/>
   <joint name="r_sole_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.013387199999999995 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.013387200000000002 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_25"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_26"/>
   <joint name="r_sole_skin_26_fixed_joint" type="fixed">
-    <origin xyz="0.017404099999999985 0.0133722 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.017404099999999992 0.0133722 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_26"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_27"/>
   <joint name="r_sole_skin_27_fixed_joint" type="fixed">
-    <origin xyz="0.0030464999999999798 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.0030464999999999867 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_27"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_28"/>
   <joint name="r_sole_skin_28_fixed_joint" type="fixed">
-    <origin xyz="-0.015327899999999998 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.015327899999999992 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_28"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_29"/>
   <joint name="r_sole_skin_29_fixed_joint" type="fixed">
-    <origin xyz="-0.019344800000000002 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.019344799999999995 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_29"/>
     <dynamics damping="0.1"/>
@@ -938,12 +938,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
+      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000158626" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.000206526" iyz="1.19785e-06" izz="0.000104956"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -952,15 +952,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
-    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
+    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -989,7 +989,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
+    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -1026,12 +1026,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13344e-05" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="5.86947e-05" iyz="3.92498e-06" izz="9.68353e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1040,7 +1040,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1056,7 +1056,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -1077,7 +1077,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -1086,35 +1086,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1135,14 +1135,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -1170,7 +1170,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -1191,35 +1191,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1254,19 +1254,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="5.57722e-06" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="5.29845e-06" iyz="-1.59685e-07" izz="1.87724e-06"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1275,14 +1275,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -1312,7 +1312,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -1358,12 +1358,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
+      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000159621" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.000222574" iyz="1.20112e-06" izz="0.000120056"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1372,15 +1372,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
-    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
+    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -1409,7 +1409,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
+    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -1446,7 +1446,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13352e-05" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="5.86823e-05" iyz="3.9319e-06" izz="9.68469e-05"/>
     </inertial>
@@ -1476,7 +1476,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -1497,7 +1497,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -1506,35 +1506,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1555,7 +1555,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -1576,7 +1576,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -1611,35 +1611,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1653,7 +1653,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1674,19 +1674,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="5.56774e-06" ixy="3.08362e-08" ixz="9.42153e-07" iyy="5.28838e-06" iyz="-1.58924e-07" izz="1.87579e-06"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1695,14 +1695,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1732,7 +1732,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1748,12 +1748,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1762,7 +1762,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1778,12 +1778,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0011062999999999906 1.7299999999997873e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0011062999999999976 1.730000000001175e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.415987"/>
       <inertia ixx="0.000475741" ixy="2.89355e-07" ixz="-6.72876e-08" iyy="0.000279828" iyz="6.7417e-06" izz="0.000307828"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1792,14 +1792,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
+    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1808,12 +1808,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.00012289999999999524 -0.00028229999999998534 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012290000000000217 -0.0002822999999999992 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="3.27938e-05" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="5.69957e-05" iyz="3.32338e-08" izz="3.26449e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1822,26 +1822,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008301999999999893 7.519999999998361e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008301999999999962 7.519999999999749e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868999999999982 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868999999999913 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1850,7 +1850,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1866,7 +1866,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.05125669999999999 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.051256699999999995 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1880,12 +1880,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.000999800000000002 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0009997999999999951 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1894,7 +1894,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1910,12 +1910,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015153099999999996 0.000902 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.015153099999999989 0.0009020000000000139 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447429734460005" ixy="-1.1322603878053663e-06" ixz="3.046651057758992e-05" iyy="0.0004478873540695352" iyz="2.5726583414130826e-06" izz="0.0003076030453774591"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1924,7 +1924,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1940,12 +1940,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011447000000000054 3.5999999999786203e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0011446999999999985 3.599999999992498e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.265122"/>
       <inertia ixx="0.000327222" ixy="-4.74606e-08" ixz="4.94571e-08" iyy="0.000248285" iyz="-4.29975e-06" izz="0.000150937"/>
     </inertial>
     <visual>
-      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1954,7 +1954,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1991,7 +1991,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.003499999999999996 0 -0.0605" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.003500000000000003 0 -0.0605" rpy="3.141592653589793 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2658,13 +2658,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2706,13 +2706,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2754,13 +2754,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2778,13 +2778,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2814,13 +2814,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2838,13 +2838,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2862,13 +2862,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -3004,24 +3004,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -3063,13 +3063,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
+      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
@@ -3087,178 +3087,178 @@
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07847939999999998 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
+      <pose>0.07847939999999999 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999998 -0.011812200000000009 -0.001214999999999966"/>
+    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999999 -0.011812200000000009 -0.001214999999999966"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012577000000000005 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.012577000000000012 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000005 -0.04040720000000002 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000012 -0.04040720000000002 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012574999999999996 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012575000000000003 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012574999999999996 0.04040679999999998 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575000000000003 0.04040679999999998 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.01308100000000001 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.013081000000000016 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.01308100000000001 -0.04040720000000002 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000016 -0.04040720000000002 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013078999999999993 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.013079 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999993 0.04040679999999998 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013079 0.04040679999999998 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04200169 0.03156479999999999 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
+      <pose>0.042001689999999994 0.03156479999999999 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.04200169 0.03156479999999999 0.04913199999999998"/>
+    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.042001689999999994 0.03156479999999999 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352114999999999 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352114999999998 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999999 0.007765700000000014 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999998 0.007765700000000014 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053784999999999986 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999998 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429400000000002 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999998 -0.014429400000000002 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.03412954999999999 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412954999999998 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999999 -0.0414999 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999998 -0.0414999 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378499999999999 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.043785 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999999 0.017810999999999994 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043785 0.017810999999999994 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785000000000004 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.04378500000000001 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785000000000004 -0.014191800000000011 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378500000000001 -0.014191800000000011 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.043513791999999996 0.011314499999999963 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04351379199999999 0.011314499999999963 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.043513791999999996 0.011314499999999963 -0.09276499999999999"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351379199999999 0.011314499999999963 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.044503353999999995 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04450335399999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503353999999995 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450335399999999 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05313352999999999 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.053133529999999984 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313352999999999 0.017184099999999994 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133529999999984 0.017184099999999994 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
@@ -3276,25 +3276,25 @@
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915200000000003 0.04274479999999997 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
+      <pose>0.025915199999999996 0.04274479999999997 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.025915200000000003 0.04274479999999997 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915199999999996 0.04274479999999997 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999984 -0.041718700000000025 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
+      <pose>0.018459299999999977 -0.041718700000000025 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999984 -0.041718700000000025 -0.09295800000000004"/>
+    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999977 -0.041718700000000025 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
@@ -3368,45 +3368,45 @@
     <sensor name="l_upper_leg_ft_acc_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_acc_3b12" type="accelerometer">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_hip_2">
     <sensor name="l_upper_leg_ft_gyro_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_gyro_3b12" type="gyroscope">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_acc_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_acc_3b13" type="accelerometer">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_gyro_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_gyro_3b13" type="gyroscope">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
   </sensor>
   <gazebo>
     <pose>0.0 0.0 0.63 0.0 0.0 3.14</pose>
diff --git a/iCub/robots/iCubGenova02/model.urdf b/iCub/robots/iCubGenova02/model.urdf
index 612b79d..188d3d3 100644
--- a/iCub/robots/iCubGenova02/model.urdf
+++ b/iCub/robots/iCubGenova02/model.urdf
@@ -247,12 +247,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
+      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000158626" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.000206526" iyz="1.19785e-06" izz="0.000104956"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -261,15 +261,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
-    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
+    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -298,7 +298,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
+    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -335,12 +335,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13344e-05" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="5.86947e-05" iyz="3.92498e-06" izz="9.68353e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -349,7 +349,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -365,7 +365,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -386,7 +386,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -395,35 +395,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -444,14 +444,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -479,7 +479,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -500,35 +500,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -542,7 +542,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -563,19 +563,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="5.57722e-06" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="5.29845e-06" iyz="-1.59685e-07" izz="1.87724e-06"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -584,14 +584,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -621,7 +621,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -667,12 +667,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
+      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000159621" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.000222574" iyz="1.20112e-06" izz="0.000120056"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -681,15 +681,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
-    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
+    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -718,7 +718,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
+    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -755,7 +755,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13352e-05" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="5.86823e-05" iyz="3.9319e-06" izz="9.68469e-05"/>
     </inertial>
@@ -785,7 +785,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -806,7 +806,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -815,35 +815,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -864,7 +864,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -885,7 +885,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -920,35 +920,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -962,7 +962,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -983,19 +983,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="5.56774e-06" ixy="3.08362e-08" ixz="9.42153e-07" iyy="5.28838e-06" iyz="-1.58924e-07" izz="1.87579e-06"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1004,14 +1004,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1041,7 +1041,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1057,12 +1057,12 @@
   </joint>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1071,7 +1071,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.058310299999999995 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
+    <origin xyz="0.058310299999999995 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1247,7 +1247,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208552 0.03044339999999998 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
+    <origin xyz="0.05208552 0.03044339999999998 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -1275,7 +1275,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999999 -0.03117600000000001 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
+    <origin xyz="0.05504769999999999 -0.03117600000000001 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -1303,21 +1303,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.035753400000000005 0.04106279999999999 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
+    <origin xyz="0.035753400000000005 0.04106279999999999 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.023441900000000012 0.04799079999999998 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
+    <origin xyz="0.023441900000000012 0.04799079999999998 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.02427040000000001 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
+    <origin xyz="0.02427040000000001 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -1352,14 +1352,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.047748659999999984 -0.031231999999999996 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
+    <origin xyz="0.047748659999999984 -0.031231999999999996 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322408999999999 -0.01560180000000004 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
+    <origin xyz="0.05322408999999999 -0.01560180000000004 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -1373,21 +1373,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880466999999999 -0.031263 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
+    <origin xyz="0.04880466999999999 -0.031263 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999999 -0.01591290000000002 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
+    <origin xyz="0.05660089999999999 -0.01591290000000002 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.057010599999999995 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
+    <origin xyz="0.057010599999999995 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -1408,14 +1408,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641629999999995 0.01763889999999997 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
+    <origin xyz="0.052641629999999995 0.01763889999999997 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113137 0.032438499999999953 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
+    <origin xyz="0.04113137 0.032438499999999953 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -1436,7 +1436,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998319999999995 0.0012663999999999592 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
+    <origin xyz="0.052998319999999995 0.0012663999999999592 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -1450,7 +1450,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127079999999986 -0.030749000000000026 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
+    <origin xyz="0.045127079999999986 -0.030749000000000026 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -1485,12 +1485,12 @@
   </joint>
   <link name="r_ankle_1">
     <inertial>
-      <origin xyz="0.015143405473968821 -0.0008685000000000082 4.2859082720503316e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.015143405473968807 -0.0008685000000000082 4.2859082720503316e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.6803"/>
       <inertia ixx="0.0004046207392315529" ixy="8.523488844593136e-06" ixz="-2.8913590319053794e-05" iyy="0.0004379396781535379" iyz="3.7330395179426065e-05" izz="0.00031892819418424145"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272424511754 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424511755 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1499,7 +1499,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272424511754 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424511755 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1515,12 +1515,12 @@
   </joint>
   <link name="r_ankle_2">
     <inertial>
-      <origin xyz="0.0011452157753235187 -8.299999999988872e-06 -0.038511854107377785" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.0011452157753235048 -8.299999999988872e-06 -0.038511854107377785" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.265337"/>
       <inertia ixx="0.000327646" ixy="-7.94989e-08" ixz="8.24551e-09" iyy="0.000244632" iyz="2.0701e-05" izz="0.000155777"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272442308744 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442308745 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1529,7 +1529,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272442308744 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442308745 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1537,7 +1537,7 @@
   </link>
   <joint name="r_ankle_roll" type="revolute">
     <origin xyz="0 0 0" rpy="0 0 0"/>
-    <axis xyz="-1.0000001561184808 -6.013654019199066e-16 1.1979394973216095e-07"/>
+    <axis xyz="-1.0000001561184808 -6.013654019199066e-16 1.197939497389039e-07"/>
     <parent link="r_ankle_1"/>
     <child link="r_ankle_2"/>
     <limit effort="37.0" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="7.64"/>
@@ -1545,12 +1545,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.039779742643594365 0.004553699994905444 -0.006311816589999797" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
+      <origin xyz="0.039779742643594365 0.004553699994905444 -0.006311816589999797" rpy="-1.832595507822573 0 -1.5707963267948983"/>
       <mass value="0.357881"/>
       <inertia ixx="0.00109611" ixy="-2.9193e-07" ixz="-3.70109e-05" iyy="0.00125706" iyz="5.10952e-06" izz="0.000215359"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
+      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.832595507822573 0 -1.5707963267948983"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1559,14 +1559,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
+      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.832595507822573 0 -1.5707963267948983"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.0034999280659716026 0 -0.060500343280208146" rpy="3.141592652417863 0 0"/>
+    <origin xyz="-0.0034999280659716164 0 -0.060500343280208146" rpy="3.141592652417863 0 0"/>
     <parent link="r_ankle_2"/>
     <child link="r_foot"/>
     <dynamics damping="0.1"/>
@@ -1580,12 +1580,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1594,7 +1594,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1610,12 +1610,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0015761999999999929 -1.940000000000275e-05 -0.04405299999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0015761999999999998 -1.939999999998887e-05 -0.04405299999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.421106"/>
       <inertia ixx="0.000494284" ixy="1.5483e-07" ixz="-1.86308e-07" iyy="0.000288736" iyz="1.52962e-05" izz="0.000319008"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1624,14 +1624,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
+    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1640,12 +1640,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.00012299999999999117 -0.0002823000000000131 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.0001229999999999981 -0.000282300000000027 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="3.27938e-05" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="5.69957e-05" iyz="3.32338e-08" izz="3.26449e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.043708999809320984 0.07010000000001014 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370899980932098 0.07010000000001013 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1654,26 +1654,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.043708999809320984 0.07010000000001014 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370899980932098 0.07010000000001013 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008574999999999972 0 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008575000000000041 0 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868000000000092 0.00010179999999999911 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868000000000023 0.00010179999999999911 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.043708999809320984 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980932098 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1682,7 +1682,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.043708999809320984 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980932098 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1698,7 +1698,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.051256699999999975 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.05125669999999998 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1712,12 +1712,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.000999700000000013 0.0034968999999999834 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0009997000000000061 0.0034968999999999834 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370899980931699 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980931698 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1726,7 +1726,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370899980931699 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980931698 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1742,12 +1742,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015152971856010347 0.0009021000000000029 4.2316556559285345e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.015152971856010333 0.0009021000000000029 4.2316556559285345e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447618553062084" ixy="-8.97867775831874e-06" ixz="2.9134846047326194e-05" iyy="0.00043720150287133953" iyz="3.730206268073148e-05" izz="0.00031828795462876227"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272424516862 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424516864 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1756,7 +1756,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272424516862 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424516864 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1772,12 +1772,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011452157753235465 -8.299999999974994e-06 -0.038511854107377674" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.0011452157753235326 -8.299999999974994e-06 -0.038511854107377674" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.265337"/>
       <inertia ixx="0.000327646" ixy="-7.94989e-08" ixz="8.24551e-09" iyy="0.000244632" iyz="2.0701e-05" izz="0.000155777"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272442313177 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442313178 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1786,7 +1786,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272442313177 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442313178 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1794,7 +1794,7 @@
   </link>
   <joint name="l_ankle_roll" type="revolute">
     <origin xyz="0 0 0" rpy="0 0 0"/>
-    <axis xyz="1.0000001561184808 6.013654019199066e-16 -1.1979394973216095e-07"/>
+    <axis xyz="1.0000001561184808 6.013654019199066e-16 -1.197939497389039e-07"/>
     <parent link="l_ankle_1"/>
     <child link="l_ankle_2"/>
     <limit effort="37.0" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="7.64"/>
@@ -1823,7 +1823,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.0034999280659716026 0 -0.060500343280208146" rpy="-3.141592643239301 0 0"/>
+    <origin xyz="-0.0034999280659716164 0 -0.060500343280208146" rpy="-3.141592643239301 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2315,13 +2315,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2363,13 +2363,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2411,13 +2411,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2435,13 +2435,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2471,13 +2471,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2495,13 +2495,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2519,13 +2519,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -2661,24 +2661,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351373 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04351373 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351373 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351373 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.044503292 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.044503292 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503292 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.044503292 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -2696,13 +2696,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0537517 0.01572289999999999 -0.0043179999999999885 -1.5707962918765586 -1.5706802104434696 -1.2217307215014315</pose>
+      <pose>0.0537517 0.01572289999999999 -0.0043179999999999885 -1.5707962918786202 -1.5706802104434698 -1.221730721500941</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707962918765586 -1.5706802104434696 -1.2217307215014315" xyz="0.0537517 0.01572289999999999 -0.0043179999999999885"/>
+    <origin rpy="-1.5707962918786202 -1.5706802104434698 -1.221730721500941" xyz="0.0537517 0.01572289999999999 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b10" type="imu">
@@ -2720,238 +2720,238 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.01648010000000001 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
+      <pose>0.01648010000000001 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.01648010000000001 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.01648010000000001 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.11154352975660221 -0.00081220000825033 -0.022848096181402044 -0.2617991810276566 7.344347213722464e-08 -1.5707960526999072</pose>
+      <pose>0.11154352975660221 -0.00081220000825033 -0.022848096181402044 -0.26179918102765654 7.344347216498023e-08 -1.570796052699907</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b12" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="-0.2617991810276566 7.344347213722464e-08 -1.5707960526999072" xyz="0.11154352975660221 -0.00081220000825033 -0.022848096181402044"/>
+    <origin rpy="-0.26179918102765654 7.344347216498023e-08 -1.570796052699907" xyz="0.11154352975660221 -0.00081220000825033 -0.022848096181402044"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.08739538274799673 -0.011812200008250326 -0.016377625097255266 -0.26179918102766675 1.5543122344752188e-15 -1.5707963267948986</pose>
+      <pose>0.08739538274799673 -0.011812200008250326 -0.016377625097255266 -0.26179918102766664 1.6098233857064772e-15 -1.5707963267948981</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="-0.26179918102766675 1.5543122344752188e-15 -1.5707963267948986" xyz="0.08739538274799673 -0.011812200008250326 -0.016377625097255266"/>
+    <origin rpy="-0.26179918102766664 1.6098233857064772e-15 -1.5707963267948981" xyz="0.08739538274799673 -0.011812200008250326 -0.016377625097255266"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012577099999999994 -0.040407200000000004 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.0125771 -0.040407200000000004 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577099999999994 -0.040407200000000004 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.0125771 -0.040407200000000004 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012575099999999985 0.040407 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012575099999999992 0.040407 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575099999999985 0.040407 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575099999999992 0.040407 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013080999999999995 -0.040407200000000004 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.013081000000000002 -0.040407200000000004 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013080999999999995 -0.040407200000000004 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000002 -0.040407200000000004 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.01307899999999998 0.040407 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.013078999999999986 0.040407 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.01307899999999998 0.040407 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999986 0.040407 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.042001630000000005 0.03156500000000001 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
+      <pose>0.04200163 0.03156500000000001 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.042001630000000005 0.03156500000000001 0.04913199999999998"/>
+    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.04200163 0.03156500000000001 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352109 0.007765700000000028 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352108999999999 0.007765700000000028 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352109 0.007765700000000028 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352108999999999 0.007765700000000028 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053785 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053785 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999999 -0.014429399999999995 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053784999999999986 -0.014429399999999995 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 -0.014429399999999995 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429399999999995 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.03412948999999999 -0.041499899999999985 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.034129489999999985 -0.041499899999999985 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412948999999999 -0.041499899999999985 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.034129489999999985 -0.041499899999999985 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378499999999998 0.01781110000000001 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.043784999999999984 0.01781110000000001 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999998 0.01781110000000001 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043784999999999984 0.01781110000000001 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378499999999999 -0.014191799999999997 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.043785 -0.014191799999999997 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378499999999999 -0.014191799999999997 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785 -0.014191799999999997 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351373 0.011314599999999966 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.043513729999999994 0.011314599999999966 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351373 0.011314599999999966 -0.09276499999999999"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.043513729999999994 0.011314599999999966 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.044503292 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04450329199999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503292 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450329199999999 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05313347 0.017184100000000008 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.053133469999999995 0.017184100000000008 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313347 0.017184100000000008 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133469999999995 0.017184100000000008 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.054451799999999995 -0.013799100000000002 -0.0043179999999999885 -1.5707963664504991 -1.5706802104435666 -1.919861927351539</pose>
+      <pose>0.05445179999999999 -0.013799100000000002 -0.0043179999999999885 -1.5707963664504991 -1.5706802104435666 -1.919861927351539</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b9" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707963664504991 -1.5706802104435666 -1.919861927351539" xyz="0.054451799999999995 -0.013799100000000002 -0.0043179999999999885"/>
+    <origin rpy="-1.5707963664504991 -1.5706802104435666 -1.919861927351539" xyz="0.05445179999999999 -0.013799100000000002 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.02591510000000001 0.042743999999999976 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
+      <pose>0.025915100000000003 0.042743999999999976 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.02591510000000001 0.042743999999999976 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915100000000003 0.042743999999999976 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999994 -0.04171870000000001 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
+      <pose>0.018459299999999988 -0.04171870000000001 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999994 -0.04171870000000001 -0.09295800000000004"/>
+    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999988 -0.04171870000000001 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
diff --git a/iCub/robots/iCubGenova04/model.urdf b/iCub/robots/iCubGenova04/model.urdf
index bcb3414..de1a7ce 100644
--- a/iCub/robots/iCubGenova04/model.urdf
+++ b/iCub/robots/iCubGenova04/model.urdf
@@ -23,12 +23,12 @@
   </link>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -37,7 +37,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -199,7 +199,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
+    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -213,7 +213,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
+    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -241,7 +241,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
+    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -269,21 +269,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
+    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
+    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
+    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -318,14 +318,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
+    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
+    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -339,21 +339,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
+    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
+    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
+    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -374,14 +374,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
+    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
+    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -402,7 +402,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
+    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -416,7 +416,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
+    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -511,12 +511,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.03360009999999998 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.033600099999999994 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.382866"/>
       <inertia ixx="0.00120946" ixy="3.74585e-07" ixz="-5.78759e-05" iyy="0.00141439" iyz="-7.80325e-06" izz="0.000273599"/>
     </inertial>
     <visual>
-      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -525,7 +525,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -539,14 +539,14 @@
   </joint>
   <link name="r_sole"/>
   <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.003499999999999996 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
+    <origin xyz="0.003500000000000003 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_0"/>
   <joint name="r_sole_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.06047669999999999 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.060476699999999994 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_0"/>
     <dynamics damping="0.1"/>
@@ -560,14 +560,14 @@
   </joint>
   <link name="r_sole_skin_2"/>
   <joint name="r_sole_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.09320869999999998 -0.032368 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.09320869999999999 -0.032368 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_3"/>
   <joint name="r_sole_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.11158309999999996 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.11158309999999998 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_3"/>
     <dynamics damping="0.1"/>
@@ -609,112 +609,112 @@
   </joint>
   <link name="r_sole_skin_12"/>
   <joint name="r_sole_skin_12_fixed_joint" type="fixed">
-    <origin xyz="0.08286799999999997 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.08286799999999998 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_12"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_13"/>
   <joint name="r_sole_skin_13_fixed_joint" type="fixed">
-    <origin xyz="0.10124239999999997 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.10124239999999998 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_13"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_14"/>
   <joint name="r_sole_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05013603999999998 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.050136039999999986 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_14"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_15"/>
   <joint name="r_sole_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.046119189999999984 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.04611918999999999 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_17"/>
   <joint name="r_sole_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.029685499999999997 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.02968549999999999 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_18"/>
   <joint name="r_sole_skin_18_fixed_joint" type="fixed">
-    <origin xyz="-0.04805990000000001 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.0480599 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_18"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_19"/>
   <joint name="r_sole_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.05207670000000001 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.052076700000000004 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_20"/>
   <joint name="r_sole_skin_20_fixed_joint" type="fixed">
-    <origin xyz="-0.037719200000000015 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.03771920000000001 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_21"/>
   <joint name="r_sole_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.03577849999999998 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.03577849999999999 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_21"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_22"/>
   <joint name="r_sole_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.02774479999999999 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.027744799999999997 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_22"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_24"/>
   <joint name="r_sole_skin_24_fixed_joint" type="fixed">
-    <origin xyz="-0.004987200000000004 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.004987199999999997 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_24"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_25"/>
   <joint name="r_sole_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.013387199999999995 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.013387200000000002 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_25"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_26"/>
   <joint name="r_sole_skin_26_fixed_joint" type="fixed">
-    <origin xyz="0.017404099999999985 0.0133722 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.017404099999999992 0.0133722 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_26"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_27"/>
   <joint name="r_sole_skin_27_fixed_joint" type="fixed">
-    <origin xyz="0.0030464999999999798 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.0030464999999999867 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_27"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_28"/>
   <joint name="r_sole_skin_28_fixed_joint" type="fixed">
-    <origin xyz="-0.015327899999999998 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.015327899999999992 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_28"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_29"/>
   <joint name="r_sole_skin_29_fixed_joint" type="fixed">
-    <origin xyz="-0.019344800000000002 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.019344799999999995 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_29"/>
     <dynamics damping="0.1"/>
@@ -938,12 +938,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
+      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000158626" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.000206526" iyz="1.19785e-06" izz="0.000104956"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -952,15 +952,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
-    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
+    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -989,7 +989,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
+    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -1026,12 +1026,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13344e-05" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="5.86947e-05" iyz="3.92498e-06" izz="9.68353e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1040,7 +1040,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1056,7 +1056,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -1077,7 +1077,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -1086,35 +1086,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1135,14 +1135,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -1170,7 +1170,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -1191,35 +1191,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1254,19 +1254,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="5.57722e-06" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="5.29845e-06" iyz="-1.59685e-07" izz="1.87724e-06"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1275,14 +1275,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -1312,7 +1312,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -1358,12 +1358,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
+      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000159621" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.000222574" iyz="1.20112e-06" izz="0.000120056"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1372,15 +1372,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
-    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
+    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -1409,7 +1409,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
+    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -1446,7 +1446,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13352e-05" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="5.86823e-05" iyz="3.9319e-06" izz="9.68469e-05"/>
     </inertial>
@@ -1476,7 +1476,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -1497,7 +1497,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -1506,35 +1506,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1555,7 +1555,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -1576,7 +1576,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -1611,35 +1611,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1653,7 +1653,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1674,19 +1674,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="5.56774e-06" ixy="3.08362e-08" ixz="9.42153e-07" iyy="5.28838e-06" iyz="-1.58924e-07" izz="1.87579e-06"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1695,14 +1695,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1732,7 +1732,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1748,12 +1748,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1762,7 +1762,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1778,12 +1778,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0011062999999999906 1.7299999999997873e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0011062999999999976 1.730000000001175e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.415987"/>
       <inertia ixx="0.000475741" ixy="2.89355e-07" ixz="-6.72876e-08" iyy="0.000279828" iyz="6.7417e-06" izz="0.000307828"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1792,14 +1792,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
+    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1808,12 +1808,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.00012289999999999524 -0.00028229999999998534 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012290000000000217 -0.0002822999999999992 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="3.27938e-05" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="5.69957e-05" iyz="3.32338e-08" izz="3.26449e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1822,26 +1822,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008301999999999893 7.519999999998361e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008301999999999962 7.519999999999749e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868999999999982 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868999999999913 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1850,7 +1850,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1866,7 +1866,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.05125669999999999 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.051256699999999995 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1880,12 +1880,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.000999800000000002 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0009997999999999951 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1894,7 +1894,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1910,12 +1910,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015153099999999996 0.000902 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.015153099999999989 0.0009020000000000139 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447429734460005" ixy="-1.1322603878053663e-06" ixz="3.046651057758992e-05" iyy="0.0004478873540695352" iyz="2.5726583414130826e-06" izz="0.0003076030453774591"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1924,7 +1924,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1940,12 +1940,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011447000000000054 3.5999999999786203e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0011446999999999985 3.599999999992498e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.265122"/>
       <inertia ixx="0.000327222" ixy="-4.74606e-08" ixz="4.94571e-08" iyy="0.000248285" iyz="-4.29975e-06" izz="0.000150937"/>
     </inertial>
     <visual>
-      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1954,7 +1954,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1991,7 +1991,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.003499999999999996 0 -0.0605" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.003500000000000003 0 -0.0605" rpy="3.141592653589793 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2658,13 +2658,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2706,13 +2706,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2754,13 +2754,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2778,13 +2778,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2814,13 +2814,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2838,13 +2838,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2862,13 +2862,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -3004,24 +3004,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -3063,13 +3063,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
+      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
@@ -3087,178 +3087,178 @@
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07847939999999998 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
+      <pose>0.07847939999999999 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999998 -0.011812200000000009 -0.001214999999999966"/>
+    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999999 -0.011812200000000009 -0.001214999999999966"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012577000000000005 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.012577000000000012 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000005 -0.04040720000000002 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000012 -0.04040720000000002 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012574999999999996 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012575000000000003 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012574999999999996 0.04040679999999998 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575000000000003 0.04040679999999998 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.01308100000000001 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.013081000000000016 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.01308100000000001 -0.04040720000000002 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000016 -0.04040720000000002 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013078999999999993 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.013079 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999993 0.04040679999999998 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013079 0.04040679999999998 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04200169 0.03156479999999999 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
+      <pose>0.042001689999999994 0.03156479999999999 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.04200169 0.03156479999999999 0.04913199999999998"/>
+    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.042001689999999994 0.03156479999999999 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352114999999999 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352114999999998 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999999 0.007765700000000014 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999998 0.007765700000000014 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053784999999999986 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999998 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429400000000002 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999998 -0.014429400000000002 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.03412954999999999 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412954999999998 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999999 -0.0414999 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999998 -0.0414999 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378499999999999 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.043785 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999999 0.017810999999999994 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043785 0.017810999999999994 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785000000000004 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.04378500000000001 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785000000000004 -0.014191800000000011 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378500000000001 -0.014191800000000011 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.043513791999999996 0.011314499999999963 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04351379199999999 0.011314499999999963 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.043513791999999996 0.011314499999999963 -0.09276499999999999"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351379199999999 0.011314499999999963 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.044503353999999995 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04450335399999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503353999999995 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450335399999999 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05313352999999999 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.053133529999999984 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313352999999999 0.017184099999999994 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133529999999984 0.017184099999999994 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
@@ -3276,25 +3276,25 @@
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915200000000003 0.04274479999999997 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
+      <pose>0.025915199999999996 0.04274479999999997 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.025915200000000003 0.04274479999999997 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915199999999996 0.04274479999999997 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999984 -0.041718700000000025 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
+      <pose>0.018459299999999977 -0.041718700000000025 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999984 -0.041718700000000025 -0.09295800000000004"/>
+    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999977 -0.041718700000000025 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
@@ -3368,45 +3368,45 @@
     <sensor name="l_upper_leg_ft_acc_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_acc_3b12" type="accelerometer">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_hip_2">
     <sensor name="l_upper_leg_ft_gyro_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_gyro_3b12" type="gyroscope">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_acc_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_acc_3b13" type="accelerometer">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_gyro_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_gyro_3b13" type="gyroscope">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
   </sensor>
   <gazebo>
     <pose>0.0 0.0 0.63 0.0 0.0 3.14</pose>
diff --git a/iCub/robots/iCubGenova04_plus/model.urdf b/iCub/robots/iCubGenova04_plus/model.urdf
index 612b79d..188d3d3 100644
--- a/iCub/robots/iCubGenova04_plus/model.urdf
+++ b/iCub/robots/iCubGenova04_plus/model.urdf
@@ -247,12 +247,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
+      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000158626" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.000206526" iyz="1.19785e-06" izz="0.000104956"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -261,15 +261,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
-    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
+    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -298,7 +298,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
+    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -335,12 +335,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13344e-05" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="5.86947e-05" iyz="3.92498e-06" izz="9.68353e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -349,7 +349,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -365,7 +365,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -386,7 +386,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -395,35 +395,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -444,14 +444,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -479,7 +479,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -500,35 +500,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -542,7 +542,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -563,19 +563,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="5.57722e-06" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="5.29845e-06" iyz="-1.59685e-07" izz="1.87724e-06"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -584,14 +584,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -621,7 +621,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -667,12 +667,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
+      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000159621" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.000222574" iyz="1.20112e-06" izz="0.000120056"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -681,15 +681,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
-    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
+    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -718,7 +718,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
+    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -755,7 +755,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13352e-05" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="5.86823e-05" iyz="3.9319e-06" izz="9.68469e-05"/>
     </inertial>
@@ -785,7 +785,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -806,7 +806,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -815,35 +815,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -864,7 +864,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -885,7 +885,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -920,35 +920,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -962,7 +962,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -983,19 +983,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="5.56774e-06" ixy="3.08362e-08" ixz="9.42153e-07" iyy="5.28838e-06" iyz="-1.58924e-07" izz="1.87579e-06"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1004,14 +1004,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1041,7 +1041,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1057,12 +1057,12 @@
   </joint>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1071,7 +1071,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.058310299999999995 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
+    <origin xyz="0.058310299999999995 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1247,7 +1247,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208552 0.03044339999999998 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
+    <origin xyz="0.05208552 0.03044339999999998 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -1275,7 +1275,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999999 -0.03117600000000001 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
+    <origin xyz="0.05504769999999999 -0.03117600000000001 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -1303,21 +1303,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.035753400000000005 0.04106279999999999 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
+    <origin xyz="0.035753400000000005 0.04106279999999999 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.023441900000000012 0.04799079999999998 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
+    <origin xyz="0.023441900000000012 0.04799079999999998 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.02427040000000001 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
+    <origin xyz="0.02427040000000001 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -1352,14 +1352,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.047748659999999984 -0.031231999999999996 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
+    <origin xyz="0.047748659999999984 -0.031231999999999996 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322408999999999 -0.01560180000000004 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
+    <origin xyz="0.05322408999999999 -0.01560180000000004 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -1373,21 +1373,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880466999999999 -0.031263 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
+    <origin xyz="0.04880466999999999 -0.031263 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999999 -0.01591290000000002 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
+    <origin xyz="0.05660089999999999 -0.01591290000000002 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.057010599999999995 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
+    <origin xyz="0.057010599999999995 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -1408,14 +1408,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641629999999995 0.01763889999999997 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
+    <origin xyz="0.052641629999999995 0.01763889999999997 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113137 0.032438499999999953 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
+    <origin xyz="0.04113137 0.032438499999999953 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -1436,7 +1436,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998319999999995 0.0012663999999999592 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
+    <origin xyz="0.052998319999999995 0.0012663999999999592 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -1450,7 +1450,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127079999999986 -0.030749000000000026 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
+    <origin xyz="0.045127079999999986 -0.030749000000000026 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -1485,12 +1485,12 @@
   </joint>
   <link name="r_ankle_1">
     <inertial>
-      <origin xyz="0.015143405473968821 -0.0008685000000000082 4.2859082720503316e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.015143405473968807 -0.0008685000000000082 4.2859082720503316e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.6803"/>
       <inertia ixx="0.0004046207392315529" ixy="8.523488844593136e-06" ixz="-2.8913590319053794e-05" iyy="0.0004379396781535379" iyz="3.7330395179426065e-05" izz="0.00031892819418424145"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272424511754 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424511755 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1499,7 +1499,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272424511754 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424511755 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1515,12 +1515,12 @@
   </joint>
   <link name="r_ankle_2">
     <inertial>
-      <origin xyz="0.0011452157753235187 -8.299999999988872e-06 -0.038511854107377785" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.0011452157753235048 -8.299999999988872e-06 -0.038511854107377785" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.265337"/>
       <inertia ixx="0.000327646" ixy="-7.94989e-08" ixz="8.24551e-09" iyy="0.000244632" iyz="2.0701e-05" izz="0.000155777"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272442308744 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442308745 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1529,7 +1529,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272442308744 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442308745 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1537,7 +1537,7 @@
   </link>
   <joint name="r_ankle_roll" type="revolute">
     <origin xyz="0 0 0" rpy="0 0 0"/>
-    <axis xyz="-1.0000001561184808 -6.013654019199066e-16 1.1979394973216095e-07"/>
+    <axis xyz="-1.0000001561184808 -6.013654019199066e-16 1.197939497389039e-07"/>
     <parent link="r_ankle_1"/>
     <child link="r_ankle_2"/>
     <limit effort="37.0" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="7.64"/>
@@ -1545,12 +1545,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.039779742643594365 0.004553699994905444 -0.006311816589999797" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
+      <origin xyz="0.039779742643594365 0.004553699994905444 -0.006311816589999797" rpy="-1.832595507822573 0 -1.5707963267948983"/>
       <mass value="0.357881"/>
       <inertia ixx="0.00109611" ixy="-2.9193e-07" ixz="-3.70109e-05" iyy="0.00125706" iyz="5.10952e-06" izz="0.000215359"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
+      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.832595507822573 0 -1.5707963267948983"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1559,14 +1559,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
+      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.832595507822573 0 -1.5707963267948983"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.0034999280659716026 0 -0.060500343280208146" rpy="3.141592652417863 0 0"/>
+    <origin xyz="-0.0034999280659716164 0 -0.060500343280208146" rpy="3.141592652417863 0 0"/>
     <parent link="r_ankle_2"/>
     <child link="r_foot"/>
     <dynamics damping="0.1"/>
@@ -1580,12 +1580,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1594,7 +1594,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1610,12 +1610,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0015761999999999929 -1.940000000000275e-05 -0.04405299999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0015761999999999998 -1.939999999998887e-05 -0.04405299999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.421106"/>
       <inertia ixx="0.000494284" ixy="1.5483e-07" ixz="-1.86308e-07" iyy="0.000288736" iyz="1.52962e-05" izz="0.000319008"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1624,14 +1624,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
+    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1640,12 +1640,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.00012299999999999117 -0.0002823000000000131 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.0001229999999999981 -0.000282300000000027 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="3.27938e-05" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="5.69957e-05" iyz="3.32338e-08" izz="3.26449e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.043708999809320984 0.07010000000001014 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370899980932098 0.07010000000001013 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1654,26 +1654,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.043708999809320984 0.07010000000001014 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370899980932098 0.07010000000001013 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008574999999999972 0 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008575000000000041 0 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868000000000092 0.00010179999999999911 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868000000000023 0.00010179999999999911 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.043708999809320984 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980932098 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1682,7 +1682,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.043708999809320984 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980932098 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1698,7 +1698,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.051256699999999975 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.05125669999999998 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1712,12 +1712,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.000999700000000013 0.0034968999999999834 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0009997000000000061 0.0034968999999999834 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370899980931699 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980931698 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1726,7 +1726,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370899980931699 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980931698 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1742,12 +1742,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015152971856010347 0.0009021000000000029 4.2316556559285345e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.015152971856010333 0.0009021000000000029 4.2316556559285345e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447618553062084" ixy="-8.97867775831874e-06" ixz="2.9134846047326194e-05" iyy="0.00043720150287133953" iyz="3.730206268073148e-05" izz="0.00031828795462876227"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272424516862 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424516864 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1756,7 +1756,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272424516862 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424516864 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1772,12 +1772,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011452157753235465 -8.299999999974994e-06 -0.038511854107377674" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.0011452157753235326 -8.299999999974994e-06 -0.038511854107377674" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.265337"/>
       <inertia ixx="0.000327646" ixy="-7.94989e-08" ixz="8.24551e-09" iyy="0.000244632" iyz="2.0701e-05" izz="0.000155777"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272442313177 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442313178 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1786,7 +1786,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272442313177 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442313178 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1794,7 +1794,7 @@
   </link>
   <joint name="l_ankle_roll" type="revolute">
     <origin xyz="0 0 0" rpy="0 0 0"/>
-    <axis xyz="1.0000001561184808 6.013654019199066e-16 -1.1979394973216095e-07"/>
+    <axis xyz="1.0000001561184808 6.013654019199066e-16 -1.197939497389039e-07"/>
     <parent link="l_ankle_1"/>
     <child link="l_ankle_2"/>
     <limit effort="37.0" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="7.64"/>
@@ -1823,7 +1823,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.0034999280659716026 0 -0.060500343280208146" rpy="-3.141592643239301 0 0"/>
+    <origin xyz="-0.0034999280659716164 0 -0.060500343280208146" rpy="-3.141592643239301 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2315,13 +2315,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2363,13 +2363,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2411,13 +2411,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2435,13 +2435,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2471,13 +2471,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2495,13 +2495,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2519,13 +2519,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -2661,24 +2661,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351373 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04351373 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351373 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351373 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.044503292 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.044503292 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503292 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.044503292 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -2696,13 +2696,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0537517 0.01572289999999999 -0.0043179999999999885 -1.5707962918765586 -1.5706802104434696 -1.2217307215014315</pose>
+      <pose>0.0537517 0.01572289999999999 -0.0043179999999999885 -1.5707962918786202 -1.5706802104434698 -1.221730721500941</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b9" type="accelerometer">
     <parent link="r_lower_leg"/>
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   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b10" type="imu">
@@ -2720,238 +2720,238 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.01648010000000001 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
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     <sensor name="r_foot_mtb_acc_11b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
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   </gazebo>
   <sensor name="r_foot_mtb_acc_11b12" type="accelerometer">
     <parent link="r_foot"/>
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   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
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     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
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   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
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     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
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   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
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     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
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   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
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   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
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   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
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     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
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   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
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     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
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   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
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   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
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   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
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     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
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     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999994 -0.04171870000000001 -0.09295800000000004"/>
+    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999988 -0.04171870000000001 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
diff --git a/iCub/robots/iCubGenova09/model.urdf b/iCub/robots/iCubGenova09/model.urdf
index 5d1528f..7ec30d6 100644
--- a/iCub/robots/iCubGenova09/model.urdf
+++ b/iCub/robots/iCubGenova09/model.urdf
@@ -398,12 +398,12 @@
   </joint>
   <link name="l_shoulder_1">
     <inertial>
-      <origin xyz="0.0002918276617865645 0.05723090680782866 0.0005026028232598713" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
+      <origin xyz="0.0002918276617865645 0.05723090680782866 0.0005026028232598678" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
       <mass value="1.45562"/>
       <inertia ixx="0.00109517" ixy="0.000611891" ixz="0.000565594" iyy="0.00306956" iyz="-0.000159546" izz="0.00307951"/>
     </inertial>
     <visual>
-      <origin xyz="0.030411223823216205 -0.02914047750374663 0.019095766539677896" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
+      <origin xyz="0.030411223823216205 -0.02914047750374663 0.019095766539677893" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -412,7 +412,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.030411223823216205 -0.02914047750374663 0.019095766539677896" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
+      <origin xyz="0.030411223823216205 -0.02914047750374663 0.019095766539677893" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -420,7 +420,7 @@
   </link>
   <joint name="l_shoulder_pitch" type="revolute">
     <origin xyz="-0.020835100000000002 0.0397423 0.1052029" rpy="0.25326162380993705 -1.1977334179319483e-07 -0.26179930184968747"/>
-    <axis xyz="3.323079797673039e-07 0.9999999783534342 1.4452224303407313e-07"/>
+    <axis xyz="3.323079797554136e-07 0.9999999783534342 1.4452224303420037e-07"/>
     <parent link="chest"/>
     <child link="l_shoulder_1"/>
     <limit effort="50000" lower="-1.53588974175501" upper="0.22689280275926285" velocity="120.0"/>
@@ -428,12 +428,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.0032933620254868984 0.0002563804707528261 -0.027865685757097337" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.003293362025486902 0.0002563804707528261 -0.027865685757097337" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <mass value="0.322126"/>
       <inertia ixx="0.000311039" ixy="-3.5032e-05" ixz="-2.4436e-05" iyy="0.000216027" iyz="-5.52877e-05" izz="0.00022365"/>
     </inertial>
     <visual>
-      <origin xyz="0.026393097869193412 -0.14153112610649204 -0.007252397644602138" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.026393097869193385 -0.14153112610649207 -0.007252397644602134" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -442,15 +442,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.026393097869193412 -0.14153112610649204 -0.007252397644602138" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.026393097869193385 -0.14153112610649207 -0.007252397644602134" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="0.004992849331690818 0.111499838456099 0.0002686502277366859" rpy="-0.17453296140985 -0.05374759931933852 0"/>
-    <axis xyz="0.9999998262417684 2.0348252649342313e-07 -4.0230228454118944e-08"/>
+    <origin xyz="0.004992849331690818 0.111499838456099 0.00026865022773668243" rpy="-0.17453296140985003 -0.05374759931933849 0"/>
+    <axis xyz="0.9999998262417685 2.0348252625938444e-07 -4.023022846062156e-08"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.20943951023931956" upper="2.792526803190927" velocity="120.0"/>
@@ -458,12 +458,12 @@
   </joint>
   <link name="l_shoulder_3">
     <inertial>
-      <origin xyz="-4.41626402200232e-06 9.587749727052453e-05 -0.007326213473011087" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="-4.416264022005789e-06 9.587749727052453e-05 -0.007326213473011087" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <mass value="0.256128"/>
       <inertia ixx="7.10321e-05" ixy="-3.76336e-07" ixz="2.93189e-06" iyy="7.06105e-05" iyz="-3.52325e-06" izz="0.000119948"/>
     </inertial>
     <visual>
-      <origin xyz="0.03074323102617175 -0.14153148936381543 0.047047641079459586" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.030743231026171717 -0.14153148936381543 0.04704764107945959" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -472,26 +472,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.03074323102617175 -0.14153148936381543 0.047047641079459586" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.030743231026171717 -0.14153148936381543 0.04704764107945959" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_arm_ft_sensor" type="fixed">
-    <origin xyz="-0.004350133156978329 3.632573233880443e-07 -0.05430003872406172" rpy="0 0 0"/>
+    <origin xyz="-0.004350133156978318 3.632573233602887e-07 -0.05430003872406172" rpy="0 0 0"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_arm">
     <inertial>
-      <origin xyz="0.006736834478024381 -0.02179925575103303 -0.04590612014684704" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.006736834478024374 -0.021799255751033003 -0.04590612014684704" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <mass value="2.07167"/>
       <inertia ixx="0.00382639" ixy="0.000215061" ixz="-5.23479e-05" iyy="0.00368146" iyz="0.000254564" izz="0.00167002"/>
     </inertial>
     <visual>
-      <origin xyz="0.030743149468679242 -0.14153106591133105 0.06954758245258398" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.030743149468679207 -0.14153106591133105 0.06954758245258398" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -500,15 +500,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.030743149468679242 -0.14153106591133105 0.06954758245258398" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.030743149468679207 -0.14153106591133105 0.06954758245258398" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0 -4.2345248449371375e-07 -0.02249994137312443" rpy="0 0 0"/>
-    <axis xyz="2.227647404040578e-08 -4.393786245948661e-08 -1.0000002566182309"/>
+    <origin xyz="0 -4.2345248449371375e-07 -0.022499941373124423" rpy="0 0 0"/>
+    <axis xyz="2.2276474049102235e-08 -4.393786247302041e-08 -1.0000002566182309"/>
     <parent link="l_shoulder_3"/>
     <child link="l_upper_arm"/>
     <limit effort="50000" lower="-0.8726646259971648" upper="1.3962634015954636" velocity="120.0"/>
@@ -516,12 +516,12 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="-0.010241946078109292 0.0018224069895867168 -0.01508962025855548" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="-0.010241946078109288 0.0018224069895867168 -0.015089620258555453" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <mass value="0.230254"/>
       <inertia ixx="0.0001165" ixy="7.51175e-07" ixz="-9.8725e-06" iyy="0.00012549" iyz="-1.03338e-05" izz="4.38981e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.02074321923375982 -0.14003141848790218 0.19324791999016772" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.02074321923375979 -0.14003141848790218 0.19324791999016774" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_elbow_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -530,7 +530,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.02074321923375982 -0.14003141848790218 0.19324791999016772" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.02074321923375979 -0.14003141848790218 0.19324791999016774" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_elbow_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -538,7 +538,7 @@
   </link>
   <joint name="l_elbow" type="revolute">
     <origin xyz="0.009999930234919404 -0.001499647423428896 -0.12370033753758375" rpy="0 0 0"/>
-    <axis xyz="-8.811824154381087e-08 -1.0000002733514628 4.4047361189014644e-08"/>
+    <axis xyz="-8.811824174789715e-08 -1.0000002733514628 4.404736120498342e-08"/>
     <parent link="l_upper_arm"/>
     <child link="l_elbow_1"/>
     <limit effort="50000" lower="-0.05235987755982989" upper="1.3089969389957472" velocity="120.0"/>
@@ -546,12 +546,12 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="-0.006269874102298061 -4.68551245806359e-05 -0.030648347755607153" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="-0.0062698741022980675 -4.68551245806359e-05 -0.030648347755607208" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <mass value="0.90793"/>
       <inertia ixx="0.00131822" ixy="-7.39737e-07" ixz="-2.69292e-05" iyy="0.00128448" iyz="0.000108551" izz="0.000646975"/>
     </inertial>
     <visual>
-      <origin xyz="0.03574308988793752 -0.14203106199153712 0.24854798357264754" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.035743089887937486 -0.14203106199153712 0.24854798357264754" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_forearm_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -560,15 +560,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.03574308988793752 -0.14203106199153712 0.24854798357264754" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.035743089887937486 -0.14203106199153712 0.24854798357264754" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_forearm_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="-0.014999870654177704 0.0019996435036348514 -0.055300063582479825" rpy="0 0 0"/>
-    <axis xyz="2.227647404040578e-08 -4.393786245948661e-08 -1.0000002566182309"/>
+    <origin xyz="-0.0149998706541777 0.0019996435036348514 -0.0553000635824798" rpy="0 0 0"/>
+    <axis xyz="2.2276474049102235e-08 -4.393786247302041e-08 -1.0000002566182309"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
     <limit effort="50000" lower="-1.53588974175501" upper="1.53588974175501" velocity="120.0"/>
@@ -576,12 +576,12 @@
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.014390150453737368 -0.0005083960996520587 -9.893035257668714e-05" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="-0.014390150453737368 -0.0005083960996520864 -9.893035257668714e-05" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <mass value="0.0344005"/>
       <inertia ixx="5.11755e-06" ixy="-9.19776e-07" ixz="-1.4756e-08" iyy="1.60849e-06" iyz="-1.11493e-07" izz="5.58546e-06"/>
     </inertial>
     <visual>
-      <origin xyz="0.019143073953651363 -0.14403795720960977 0.3560476247151885" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.019143073953651328 -0.1440379572096098 0.3560476247151885" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -590,15 +590,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.019143073953651363 -0.14403795720960977 0.3560476247151885" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.019143073953651328 -0.1440379572096098 0.3560476247151885" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.016600015934286182 0.002006895218072541 -0.10749964114254112" rpy="0 0 0"/>
-    <axis xyz="-0.9999998262417684 -2.0348252649342313e-07 4.0230228454118944e-08"/>
+    <origin xyz="0.016600015934286182 0.0020068952180725685 -0.10749964114254112" rpy="0 0 0"/>
+    <axis xyz="-0.9999998262417685 -2.0348252625938444e-07 4.023022846062156e-08"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
     <limit effort="50000" lower="-1.2217304763960306" upper="0.4363323129985824" velocity="120.0"/>
@@ -606,12 +606,12 @@
   </joint>
   <link name="l_hand">
     <inertial>
-      <origin xyz="0.004786523181334722 -0.0061337378723908265 -0.0672770617484692" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.004786523181334726 -0.0061337378723908265 -0.0672770617484692" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <mass value="0.263541"/>
       <inertia ixx="0.000427427" ixy="-4.77094e-05" ixz="-1.03141e-05" iyy="0.000346557" iyz="1.19895e-05" izz="0.000161212"/>
     </inertial>
     <visual>
-      <origin xyz="0.03544319569838081 -0.13703856452803848 0.35604770325391955" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.035443195698380774 -0.13703856452803848 0.35604770325391955" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_hand_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -620,15 +620,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.03544319569838081 -0.13703856452803848 0.35604770325391955" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.035443195698380774 -0.13703856452803848 0.35604770325391955" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_hand_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.016300121744729387 -0.0069993926815711816 0" rpy="0 0 0"/>
-    <axis xyz="8.811824154381087e-08 1.0000002733514628 -4.4047361189014644e-08"/>
+    <origin xyz="-0.016300121744729387 -0.006999392681571209 0" rpy="0 0 0"/>
+    <axis xyz="8.811824174789715e-08 1.0000002733514628 -4.404736120498342e-08"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
     <limit effort="50000" lower="-0.2617993877991494" upper="0.6108652381980153" velocity="120.0"/>
@@ -658,7 +658,7 @@
   </link>
   <joint name="r_shoulder_pitch" type="revolute">
     <origin xyz="-0.020835100000000002 -0.0397423 0.1052029" rpy="-0.25326164431680925 2.3014774394592079e-07 0.26179970938509745"/>
-    <axis xyz="1.499044390054707e-07 0.9999999783534812 -1.2401537036188515e-07"/>
+    <axis xyz="1.499044390098182e-07 0.9999999783534812 -1.2401537036323317e-07"/>
     <parent link="chest"/>
     <child link="r_shoulder_1"/>
     <limit effort="50000" lower="-1.53588974175501" upper="0.22689280275926285" velocity="120.0"/>
@@ -666,12 +666,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="0.0007118441514370015 -0.0002899713150672778 -0.027865575116629175" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.000711844151437005 -0.00028997131506725005 -0.027865575116629175" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <mass value="0.322126"/>
       <inertia ixx="0.000309774" ixy="3.44034e-05" ixz="2.39129e-05" iyy="0.00021568" iyz="-5.45925e-05" izz="0.000222102"/>
     </inertial>
     <visual>
-      <origin xyz="0.023893261066846316 0.14153171676199236 -0.007252350207672715" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.02389326106684632 0.1415317167619924 -0.007252350207672714" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -680,15 +680,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.023893261066846316 0.14153171676199236 -0.007252350207672715" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.02389326106684632 0.1415317167619924 -0.007252350207672714" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="0.007489008185044645 -0.11150041046657978 0.0004027858966975245" rpy="0.17453306234069357 -0.053747792579130614 -6.132332688812785e-07"/>
-    <axis xyz="-0.9999998262417886 4.2105014356162707e-08 2.4630481189336084e-08"/>
+    <origin xyz="0.007489008185044645 -0.11150041046657978 0.0004027858966975245" rpy="0.17453306234069352 -0.05374779257913059 -6.132332688804098e-07"/>
+    <axis xyz="-0.9999998262417886 4.210501434612913e-08 2.4630481182686846e-08"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.20943951023931956" upper="2.792526803190927" velocity="120.0"/>
@@ -696,12 +696,12 @@
   </joint>
   <link name="r_shoulder_3">
     <inertial>
-      <origin xyz="-8.928496484206933e-05 -3.376971940446949e-05 -0.00759450025288725" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="-8.928496484206933e-05 -3.376971940446949e-05 -0.007594500252887257" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <mass value="0.258699"/>
       <inertia ixx="7.20362e-05" ixy="5.87638e-07" ixz="-2.8754e-06" iyy="7.22746e-05" iyz="-3.42816e-06" izz="0.000119776"/>
     </inertial>
     <visual>
-      <origin xyz="0.030743207452236198 0.1415314977120318 0.04704763137021829" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.030743207452236198 0.1415314977120318 0.047047631370218286" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -710,26 +710,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.030743207452236198 0.1415314977120318 0.04704763137021829" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.030743207452236198 0.1415314977120318 0.047047631370218286" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_arm_ft_sensor" type="fixed">
-    <origin xyz="-0.006849946385389875 2.1904996055921444e-07 -0.05429998157789099" rpy="0 0 0"/>
+    <origin xyz="-0.006849946385389872 2.1904996058697002e-07 -0.05429998157789099" rpy="0 0 0"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_upper_arm">
     <inertial>
-      <origin xyz="-4.8274954764261635e-06 -0.001943485876269635 -0.04747357932833829" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="-4.827495476422694e-06 -0.001943485876269635 -0.04747357932833829" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <mass value="2.06334"/>
       <inertia ixx="0.00382639" ixy="-5.03894e-06" ixz="0.000205684" iyy="0.00368146" iyz="0.000261155" izz="0.00167002"/>
     </inertial>
     <visual>
-      <origin xyz="0.030743125543818518 0.141531075879301 0.06954757274337188" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.03074312554381852 0.141531075879301 0.06954757274337188" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -738,15 +738,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.030743125543818518 0.141531075879301 0.06954757274337188" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.03074312554381852 0.141531075879301 0.06954757274337188" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="0 4.2183273077367467e-07 -0.022499941373153573" rpy="0 0 0"/>
-    <axis xyz="-3.787621790513063e-08 2.805197706068352e-08 1.0000002566182309"/>
+    <origin xyz="0 4.2183273077367467e-07 -0.02249994137315358" rpy="0 0 0"/>
+    <axis xyz="-3.787621790776764e-08 2.805197706023475e-08 1.0000002566182309"/>
     <parent link="r_shoulder_3"/>
     <child link="r_upper_arm"/>
     <limit effort="50000" lower="-0.8726646259971648" upper="1.3962634015954636" velocity="120.0"/>
@@ -754,12 +754,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.011624818009452066 -0.00180281594701992 0.022300137248866647" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="-0.011624818009452066 -0.0018028159470199479 0.022300137248866647" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <mass value="0.397478"/>
       <inertia ixx="0.00139406" ixy="5.80993e-06" ixz="5.27143e-05" iyy="0.00139077" iyz="6.49755e-05" izz="0.000397127"/>
     </inertial>
     <visual>
-      <origin xyz="0.020743193621214673 0.14003143574727359 0.19324791023291824" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.020743193621214673 0.14003143574727356 0.19324791023291824" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_elbow_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -768,15 +768,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.020743193621214673 0.14003143574727359 0.19324791023291824" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.020743193621214673 0.14003143574727356 0.19324791023291824" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_elbow_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_elbow" type="revolute">
-    <origin xyz="0.009999931922603816 0.0014996401320274133 -0.1237003374895465" rpy="0 0 0"/>
-    <axis xyz="2.4949582809984105e-07 -1.0000002733514362 2.7942487004772865e-08"/>
+    <origin xyz="0.00999993192260382 0.0014996401320274133 -0.1237003374895465" rpy="0 0 0"/>
+    <axis xyz="2.4949582807394525e-07 -1.0000002733514362 2.7942487010105877e-08"/>
     <parent link="r_upper_arm"/>
     <child link="r_elbow_1"/>
     <limit effort="50000" lower="-0.05235987755982989" upper="1.3089969389957472" velocity="120.0"/>
@@ -805,8 +805,8 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.014999869468812953 -0.001999649905318951 -0.05530006367251966" rpy="0 0 0"/>
-    <axis xyz="-3.787621790513063e-08 2.805197706068352e-08 1.0000002566182309"/>
+    <origin xyz="-0.014999869468812953 -0.0019996499053189787 -0.05530006367251966" rpy="0 0 0"/>
+    <axis xyz="-3.787621790776764e-08 2.805197706023475e-08 1.0000002566182309"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
     <limit effort="50000" lower="-1.53588974175501" upper="1.53588974175501" velocity="120.0"/>
@@ -814,12 +814,12 @@
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="-0.014389827079018234 0.0005092753390522065 -9.787315764231419e-05" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="-0.014389827079018234 0.0005092753390521787 -9.78731576423697e-05" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <mass value="0.0344005"/>
       <inertia ixx="5.11755e-06" ixy="9.19776e-07" ixz="1.47559e-08" iyy="1.60849e-06" iyz="-1.11493e-07" izz="5.58546e-06"/>
     </inertial>
     <visual>
-      <origin xyz="0.019443109736078983 0.1440385285434042 0.35604805361754455" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.019443109736078983 0.14403852854340418 0.3560480536175445" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -828,7 +828,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.019443109736078983 0.1440385285434042 0.35604805361754455" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.019443109736078983 0.14403852854340418 0.3560480536175445" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -836,7 +836,7 @@
   </link>
   <joint name="r_wrist_pitch" type="revolute">
     <origin xyz="0.016299953353948633 -0.002007442890811839 -0.10750007971210637" rpy="0 0 0"/>
-    <axis xyz="0.9999998262417886 -4.2105014356162707e-08 -2.4630481189336084e-08"/>
+    <axis xyz="0.9999998262417886 -4.210501434612913e-08 -2.4630481182686846e-08"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
     <limit effort="50000" lower="-1.2217304763960306" upper="0.4363323129985824" velocity="120.0"/>
@@ -844,12 +844,12 @@
   </joint>
   <link name="r_hand">
     <inertial>
-      <origin xyz="0.004828314385249662 0.00615667237451184 -0.0671378028889843" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.004828314385249669 0.00615667237451184 -0.0671378028889843" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <mass value="0.264229"/>
       <inertia ixx="0.000428764" ixy="4.7873e-05" ixz="1.1114e-05" iyy="0.000348073" iyz="1.14469e-05" izz="0.00016164"/>
     </inertial>
     <visual>
-      <origin xyz="0.03574323261035171 0.1370391384923124 0.35604813291443793" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.03574323261035172 0.1370391384923124 0.35604813291443793" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_hand_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -858,15 +858,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.03574323261035171 0.1370391384923124 0.35604813291443793" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.03574323261035172 0.1370391384923124 0.35604813291443793" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_hand_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="continuous">
-    <origin xyz="-0.016300122874272734 0.0069993900510918194 0" rpy="0 0 0"/>
-    <axis xyz="-2.4949582809984105e-07 1.0000002733514362 -2.7942487004772865e-08"/>
+    <origin xyz="-0.016300122874272734 0.006999390051091792 0" rpy="0 0 0"/>
+    <axis xyz="-2.4949582807394525e-07 1.0000002733514362 -2.7942487010105877e-08"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
     <dynamics damping="0.1"/>
@@ -1524,7 +1524,7 @@
         <frame>sensor</frame>
         <measure_direction>child_to_parent</measure_direction>
       </force_torque>
-      <pose>-0.004350133156978329 3.632573233880443e-07 -0.05430003872406172 3.141592646862139 -3.104683320142575e-08 -1.5707962571980942</pose>
+      <pose>-0.004350133156978318 3.632573233602887e-07 -0.05430003872406172 3.141592646862139 -3.10468332187885e-08 -1.5707962571980942</pose>
       <plugin name="left_arm_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
   <yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_left_arm_ft.ini</yarpConfigurationFile>
 </plugin>
@@ -1536,7 +1536,7 @@
       <frame>sensor</frame>
       <measure_direction>child_to_parent</measure_direction>
     </force_torque>
-    <origin rpy="3.141592646862139 -3.104683320142575e-08 -1.5707962571980942" xyz="-0.004350133156978329 3.632573233880443e-07 -0.05430003872406172"/>
+    <origin rpy="3.141592646862139 -3.10468332187885e-08 -1.5707962571980942" xyz="-0.004350133156978318 3.632573233602887e-07 -0.05430003872406172"/>
   </sensor>
   <gazebo reference="r_arm_ft_sensor">
     <sensor name="r_arm_ft_sensor" type="force_torque">
@@ -1546,7 +1546,7 @@
         <frame>sensor</frame>
         <measure_direction>child_to_parent</measure_direction>
       </force_torque>
-      <pose>-0.006849946385389875 2.1904996055921444e-07 -0.05429998157789099 3.141592644717707 4.094299285979593e-08 1.5707964185756365</pose>
+      <pose>-0.006849946385389872 2.1904996058697002e-07 -0.05429998157789099 3.141592644717707 4.094299285979593e-08 1.5707964185756365</pose>
       <plugin name="right_arm_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
   <yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_right_arm_ft.ini</yarpConfigurationFile>
 </plugin>
@@ -1558,7 +1558,7 @@
       <frame>sensor</frame>
       <measure_direction>child_to_parent</measure_direction>
     </force_torque>
-    <origin rpy="3.141592644717707 4.094299285979593e-08 1.5707964185756365" xyz="-0.006849946385389875 2.1904996055921444e-07 -0.05429998157789099"/>
+    <origin rpy="3.141592644717707 4.094299285979593e-08 1.5707964185756365" xyz="-0.006849946385389872 2.1904996058697002e-07 -0.05429998157789099"/>
   </sensor>
   <gazebo reference="l_foot_front_ft_sensor">
     <sensor name="l_foot_front_ft_sensor" type="force_torque">
@@ -1734,6 +1734,20 @@
     <parent link="chest"/>
     <origin rpy="-1.5707963267948968 -0.0 -1.5707963267948968" xyz="0.0894115 -0.0115 0.09929950000000001"/>
   </sensor>
+  <gazebo reference="chest">
+    <sensor name="chest_imu_acc_1x1" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.0894115 0.0175 0.09929950000000001 -1.5707963267948968 -0.0 -1.5707963267948968</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
+    <yarpConfigurationFile>model://iCub/conf_icub3/gazebo_icub_chest_inertial.ini</yarpConfigurationFile>
+</plugin>
+    </sensor>
+  </gazebo>
+  <sensor name="chest_imu_acc_1x1" type="accelerometer">
+    <parent link="chest"/>
+    <origin rpy="-1.5707963267948968 -0.0 -1.5707963267948968" xyz="0.0894115 0.0175 0.09929950000000001"/>
+  </sensor>
   <gazebo>
     <pose>0.0 0.0 0.64 0.0 0.0 0.0</pose>
   </gazebo>

From 93f735875d10053d731b77d5b61df7606380597c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Nicol=C3=B2=20Genesio=20=28=E4=BA=8C=E3=82=B3=E3=82=B2?=
 =?UTF-8?q?=E3=83=8D=29?= <nicolo.genesio@iit.it>
Date: Mon, 7 Dec 2020 10:46:32 +0000
Subject: [PATCH 05/10] Automatic build. GitHub Actions build: 405601897
 icub-model-generator commit:1783e40d230592b2df3c19d8d40cb0ee1d327e43
 urdf_parser_py commit:31474b9baaf7c3845b40e5a9aa87d5900a2282c3
 simmechanics-to-urdf commit:f6055ab8d627c45138ddde46532ea42a74b48caa

---
 iCub/robots/iCubDarmstadt01/model.urdf     | 374 ++++++++++-----------
 iCub/robots/iCubGazeboV2_5/model.urdf      | 372 ++++++++++----------
 iCub/robots/iCubGazeboV2_5_plus/model.urdf | 346 +++++++++----------
 iCub/robots/iCubGazeboV2_6/model.urdf      | 372 ++++++++++----------
 iCub/robots/iCubGazeboV2_7/model.urdf      | 372 ++++++++++----------
 iCub/robots/iCubGazeboV3/model.urdf        | 144 ++++----
 iCub/robots/iCubGenova01/model.urdf        | 374 ++++++++++-----------
 iCub/robots/iCubGenova02/model.urdf        | 348 +++++++++----------
 iCub/robots/iCubGenova04/model.urdf        | 374 ++++++++++-----------
 iCub/robots/iCubGenova04_plus/model.urdf   | 348 +++++++++----------
 iCub/robots/iCubGenova09/model.urdf        | 144 ++++----
 11 files changed, 1784 insertions(+), 1784 deletions(-)

diff --git a/iCub/robots/iCubDarmstadt01/model.urdf b/iCub/robots/iCubDarmstadt01/model.urdf
index 676aece..1acd7d5 100644
--- a/iCub/robots/iCubDarmstadt01/model.urdf
+++ b/iCub/robots/iCubDarmstadt01/model.urdf
@@ -23,12 +23,12 @@
   </link>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -37,7 +37,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -199,7 +199,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
+    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -213,7 +213,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
+    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -241,7 +241,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
+    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -269,21 +269,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
+    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
+    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
+    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -318,14 +318,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
+    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
+    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -339,21 +339,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
+    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
+    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
+    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -374,14 +374,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
+    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
+    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -402,7 +402,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
+    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -416,7 +416,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
+    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -511,12 +511,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.033600099999999994 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.03360009999999998 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.382866"/>
       <inertia ixx="0.00120946" ixy="3.74585e-07" ixz="-5.78759e-05" iyy="0.00141439" iyz="-7.80325e-06" izz="0.000273599"/>
     </inertial>
     <visual>
-      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -525,7 +525,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -539,14 +539,14 @@
   </joint>
   <link name="r_sole"/>
   <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.003500000000000003 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
+    <origin xyz="0.003499999999999996 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_0"/>
   <joint name="r_sole_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.060476699999999994 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.06047669999999999 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_0"/>
     <dynamics damping="0.1"/>
@@ -560,14 +560,14 @@
   </joint>
   <link name="r_sole_skin_2"/>
   <joint name="r_sole_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.09320869999999999 -0.032368 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.09320869999999998 -0.032368 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_3"/>
   <joint name="r_sole_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.11158309999999998 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.11158309999999996 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_3"/>
     <dynamics damping="0.1"/>
@@ -609,112 +609,112 @@
   </joint>
   <link name="r_sole_skin_12"/>
   <joint name="r_sole_skin_12_fixed_joint" type="fixed">
-    <origin xyz="0.08286799999999998 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.08286799999999997 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_12"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_13"/>
   <joint name="r_sole_skin_13_fixed_joint" type="fixed">
-    <origin xyz="0.10124239999999998 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.10124239999999997 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_13"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_14"/>
   <joint name="r_sole_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.050136039999999986 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.05013603999999998 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_14"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_15"/>
   <joint name="r_sole_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.04611918999999999 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.046119189999999984 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_17"/>
   <joint name="r_sole_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.02968549999999999 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.029685499999999997 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_18"/>
   <joint name="r_sole_skin_18_fixed_joint" type="fixed">
-    <origin xyz="-0.0480599 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.04805990000000001 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_18"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_19"/>
   <joint name="r_sole_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.052076700000000004 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.05207670000000001 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_20"/>
   <joint name="r_sole_skin_20_fixed_joint" type="fixed">
-    <origin xyz="-0.03771920000000001 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.037719200000000015 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_21"/>
   <joint name="r_sole_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.03577849999999999 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.03577849999999998 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_21"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_22"/>
   <joint name="r_sole_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.027744799999999997 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.02774479999999999 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_22"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_24"/>
   <joint name="r_sole_skin_24_fixed_joint" type="fixed">
-    <origin xyz="-0.004987199999999997 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.004987200000000004 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_24"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_25"/>
   <joint name="r_sole_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.013387200000000002 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.013387199999999995 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_25"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_26"/>
   <joint name="r_sole_skin_26_fixed_joint" type="fixed">
-    <origin xyz="0.017404099999999992 0.0133722 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.017404099999999985 0.0133722 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_26"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_27"/>
   <joint name="r_sole_skin_27_fixed_joint" type="fixed">
-    <origin xyz="0.0030464999999999867 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.0030464999999999798 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_27"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_28"/>
   <joint name="r_sole_skin_28_fixed_joint" type="fixed">
-    <origin xyz="-0.015327899999999992 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.015327899999999998 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_28"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_29"/>
   <joint name="r_sole_skin_29_fixed_joint" type="fixed">
-    <origin xyz="-0.019344799999999995 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.019344800000000002 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_29"/>
     <dynamics damping="0.1"/>
@@ -938,12 +938,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
+      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000158626" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.000206526" iyz="1.19785e-06" izz="0.000104956"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -952,15 +952,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
-    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
+    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -989,7 +989,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
+    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -1026,12 +1026,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13344e-05" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="5.86947e-05" iyz="3.92498e-06" izz="9.68353e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1040,7 +1040,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1056,7 +1056,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -1077,7 +1077,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -1086,35 +1086,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1135,14 +1135,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -1170,7 +1170,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -1191,35 +1191,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1254,19 +1254,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="5.57722e-06" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="5.29845e-06" iyz="-1.59685e-07" izz="1.87724e-06"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1275,14 +1275,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -1312,7 +1312,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -1358,12 +1358,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
+      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000159621" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.000222574" iyz="1.20112e-06" izz="0.000120056"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1372,15 +1372,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
-    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
+    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -1409,7 +1409,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
+    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -1446,7 +1446,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13352e-05" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="5.86823e-05" iyz="3.9319e-06" izz="9.68469e-05"/>
     </inertial>
@@ -1476,7 +1476,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -1497,7 +1497,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -1506,35 +1506,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1555,7 +1555,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -1576,7 +1576,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -1611,35 +1611,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1653,7 +1653,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1674,19 +1674,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="5.56774e-06" ixy="3.08362e-08" ixz="9.42153e-07" iyy="5.28838e-06" iyz="-1.58924e-07" izz="1.87579e-06"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1695,14 +1695,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1732,7 +1732,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1748,12 +1748,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1762,7 +1762,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1778,12 +1778,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0011062999999999976 1.730000000001175e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0011062999999999906 1.7299999999997873e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.415987"/>
       <inertia ixx="0.000475741" ixy="2.89355e-07" ixz="-6.72876e-08" iyy="0.000279828" iyz="6.7417e-06" izz="0.000307828"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1792,14 +1792,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
+    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1808,12 +1808,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.00012290000000000217 -0.0002822999999999992 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012289999999999524 -0.00028229999999998534 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="3.27938e-05" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="5.69957e-05" iyz="3.32338e-08" izz="3.26449e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1822,26 +1822,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008301999999999962 7.519999999999749e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008301999999999893 7.519999999998361e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868999999999913 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868999999999982 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1850,7 +1850,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1866,7 +1866,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.051256699999999995 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.05125669999999999 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1880,12 +1880,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.0009997999999999951 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.000999800000000002 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1894,7 +1894,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1910,12 +1910,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015153099999999989 0.0009020000000000139 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.015153099999999996 0.000902 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447429734460005" ixy="-1.1322603878053663e-06" ixz="3.046651057758992e-05" iyy="0.0004478873540695352" iyz="2.5726583414130826e-06" izz="0.0003076030453774591"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1924,7 +1924,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1940,12 +1940,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011446999999999985 3.599999999992498e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0011447000000000054 3.5999999999786203e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.265122"/>
       <inertia ixx="0.000327222" ixy="-4.74606e-08" ixz="4.94571e-08" iyy="0.000248285" iyz="-4.29975e-06" izz="0.000150937"/>
     </inertial>
     <visual>
-      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1954,7 +1954,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1991,7 +1991,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.003500000000000003 0 -0.0605" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.003499999999999996 0 -0.0605" rpy="3.141592653589793 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2658,13 +2658,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2706,13 +2706,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2754,13 +2754,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2778,13 +2778,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2814,13 +2814,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2838,13 +2838,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2862,13 +2862,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -3004,24 +3004,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -3063,13 +3063,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
@@ -3087,178 +3087,178 @@
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07847939999999999 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
+      <pose>0.07847939999999998 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999999 -0.011812200000000009 -0.001214999999999966"/>
+    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999998 -0.011812200000000009 -0.001214999999999966"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012577000000000012 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.012577000000000005 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000012 -0.04040720000000002 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000005 -0.04040720000000002 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012575000000000003 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012574999999999996 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575000000000003 0.04040679999999998 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012574999999999996 0.04040679999999998 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013081000000000016 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.01308100000000001 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000016 -0.04040720000000002 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.01308100000000001 -0.04040720000000002 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013079 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.013078999999999993 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013079 0.04040679999999998 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999993 0.04040679999999998 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.042001689999999994 0.03156479999999999 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
+      <pose>0.04200169 0.03156479999999999 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.042001689999999994 0.03156479999999999 0.04913199999999998"/>
+    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.04200169 0.03156479999999999 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352114999999998 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352114999999999 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999998 0.007765700000000014 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999999 0.007765700000000014 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999998 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053784999999999986 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999998 -0.014429400000000002 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429400000000002 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.03412954999999998 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412954999999999 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999998 -0.0414999 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999999 -0.0414999 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.04378499999999999 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043785 0.017810999999999994 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999999 0.017810999999999994 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378500000000001 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.043785000000000004 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378500000000001 -0.014191800000000011 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785000000000004 -0.014191800000000011 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351379199999999 0.011314499999999963 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.043513791999999996 0.011314499999999963 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351379199999999 0.011314499999999963 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.043513791999999996 0.011314499999999963 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450335399999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.044503353999999995 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450335399999999 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503353999999995 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053133529999999984 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.05313352999999999 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133529999999984 0.017184099999999994 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313352999999999 0.017184099999999994 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
@@ -3276,25 +3276,25 @@
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915199999999996 0.04274479999999997 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.025915200000000003 0.04274479999999997 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915199999999996 0.04274479999999997 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.025915200000000003 0.04274479999999997 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999977 -0.041718700000000025 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
+      <pose>0.018459299999999984 -0.041718700000000025 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999977 -0.041718700000000025 -0.09295800000000004"/>
+    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999984 -0.041718700000000025 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
@@ -3368,45 +3368,45 @@
     <sensor name="l_upper_leg_ft_acc_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_acc_3b12" type="accelerometer">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_hip_2">
     <sensor name="l_upper_leg_ft_gyro_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_gyro_3b12" type="gyroscope">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_acc_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_acc_3b13" type="accelerometer">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_gyro_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_gyro_3b13" type="gyroscope">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
   </sensor>
   <gazebo>
     <pose>0.0 0.0 0.63 0.0 0.0 3.14</pose>
diff --git a/iCub/robots/iCubGazeboV2_5/model.urdf b/iCub/robots/iCubGazeboV2_5/model.urdf
index a2fd141..332206e 100644
--- a/iCub/robots/iCubGazeboV2_5/model.urdf
+++ b/iCub/robots/iCubGazeboV2_5/model.urdf
@@ -23,12 +23,12 @@
   </link>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -37,7 +37,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -199,7 +199,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
+    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -213,7 +213,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
+    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -241,7 +241,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
+    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -269,21 +269,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
+    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
+    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
+    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -318,14 +318,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
+    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
+    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -339,21 +339,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
+    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
+    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
+    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -374,14 +374,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
+    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
+    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -402,7 +402,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
+    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -416,7 +416,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
+    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -511,12 +511,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.033600099999999994 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.03360009999999998 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.382866"/>
       <inertia ixx="0.00120946" ixy="3.74585e-07" ixz="-5.78759e-05" iyy="0.00141439" iyz="-7.80325e-06" izz="0.000273599"/>
     </inertial>
     <visual>
-      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -539,14 +539,14 @@
   </joint>
   <link name="r_sole"/>
   <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.003500000000000003 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
+    <origin xyz="0.003499999999999996 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_0"/>
   <joint name="r_sole_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.060476699999999994 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.06047669999999999 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_0"/>
     <dynamics damping="0.1"/>
@@ -560,14 +560,14 @@
   </joint>
   <link name="r_sole_skin_2"/>
   <joint name="r_sole_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.09320869999999999 -0.032368 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.09320869999999998 -0.032368 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_3"/>
   <joint name="r_sole_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.11158309999999998 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.11158309999999996 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_3"/>
     <dynamics damping="0.1"/>
@@ -609,112 +609,112 @@
   </joint>
   <link name="r_sole_skin_12"/>
   <joint name="r_sole_skin_12_fixed_joint" type="fixed">
-    <origin xyz="0.08286799999999998 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.08286799999999997 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_12"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_13"/>
   <joint name="r_sole_skin_13_fixed_joint" type="fixed">
-    <origin xyz="0.10124239999999998 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.10124239999999997 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_13"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_14"/>
   <joint name="r_sole_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.050136039999999986 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.05013603999999998 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_14"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_15"/>
   <joint name="r_sole_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.04611918999999999 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.046119189999999984 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_17"/>
   <joint name="r_sole_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.02968549999999999 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.029685499999999997 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_18"/>
   <joint name="r_sole_skin_18_fixed_joint" type="fixed">
-    <origin xyz="-0.0480599 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.04805990000000001 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_18"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_19"/>
   <joint name="r_sole_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.052076700000000004 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.05207670000000001 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_20"/>
   <joint name="r_sole_skin_20_fixed_joint" type="fixed">
-    <origin xyz="-0.03771920000000001 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.037719200000000015 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_21"/>
   <joint name="r_sole_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.03577849999999999 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.03577849999999998 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_21"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_22"/>
   <joint name="r_sole_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.027744799999999997 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.02774479999999999 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_22"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_24"/>
   <joint name="r_sole_skin_24_fixed_joint" type="fixed">
-    <origin xyz="-0.004987199999999997 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.004987200000000004 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_24"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_25"/>
   <joint name="r_sole_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.013387200000000002 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.013387199999999995 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_25"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_26"/>
   <joint name="r_sole_skin_26_fixed_joint" type="fixed">
-    <origin xyz="0.017404099999999992 0.0133722 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.017404099999999985 0.0133722 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_26"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_27"/>
   <joint name="r_sole_skin_27_fixed_joint" type="fixed">
-    <origin xyz="0.0030464999999999867 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.0030464999999999798 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_27"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_28"/>
   <joint name="r_sole_skin_28_fixed_joint" type="fixed">
-    <origin xyz="-0.015327899999999992 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.015327899999999998 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_28"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_29"/>
   <joint name="r_sole_skin_29_fixed_joint" type="fixed">
-    <origin xyz="-0.019344799999999995 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.019344800000000002 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_29"/>
     <dynamics damping="0.1"/>
@@ -938,12 +938,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
+      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.01" iyz="1.19785e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -952,15 +952,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
-    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
+    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -989,7 +989,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
+    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -1026,12 +1026,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="0.01" iyz="3.92498e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1040,7 +1040,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1056,7 +1056,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -1077,7 +1077,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -1086,35 +1086,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1135,14 +1135,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -1170,7 +1170,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -1191,35 +1191,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1254,19 +1254,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="0.01" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="0.01" iyz="-1.59685e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1275,14 +1275,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -1312,7 +1312,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -1358,12 +1358,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
+      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.01" iyz="1.20112e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1372,15 +1372,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
-    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
+    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -1409,7 +1409,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
+    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -1446,7 +1446,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="0.01" iyz="3.9319e-06" izz="0.01"/>
     </inertial>
@@ -1476,7 +1476,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -1497,7 +1497,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -1506,35 +1506,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1555,7 +1555,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -1576,7 +1576,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -1611,35 +1611,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1653,7 +1653,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1674,19 +1674,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="0.01" ixy="3.08362e-08" ixz="9.42153e-07" iyy="0.01" iyz="-1.58924e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1695,14 +1695,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1732,7 +1732,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1748,12 +1748,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1762,7 +1762,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1778,12 +1778,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0011062999999999976 1.730000000001175e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0011062999999999906 1.7299999999997873e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.415987"/>
       <inertia ixx="0.000475741" ixy="2.89355e-07" ixz="-6.72876e-08" iyy="0.000279828" iyz="6.7417e-06" izz="0.000307828"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1792,14 +1792,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
+    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1808,12 +1808,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.00012290000000000217 -0.0002822999999999992 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012289999999999524 -0.00028229999999998534 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="0.01" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="0.01" iyz="3.32338e-08" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1822,26 +1822,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008301999999999962 7.519999999999749e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008301999999999893 7.519999999998361e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868999999999913 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868999999999982 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1850,7 +1850,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1866,7 +1866,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.051256699999999995 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.05125669999999999 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1880,12 +1880,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.0009997999999999951 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.000999800000000002 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1894,7 +1894,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1910,12 +1910,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015153099999999989 0.0009020000000000139 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.015153099999999996 0.000902 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447429734460005" ixy="-1.1322603878053663e-06" ixz="3.046651057758992e-05" iyy="0.0004478873540695352" iyz="2.5726583414130826e-06" izz="0.0003076030453774591"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1924,7 +1924,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1940,12 +1940,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011446999999999985 3.599999999992498e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0011447000000000054 3.5999999999786203e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.265122"/>
       <inertia ixx="0.01" ixy="-4.74606e-08" ixz="4.94571e-08" iyy="0.01" iyz="-4.29975e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1954,7 +1954,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1991,7 +1991,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.003500000000000003 0 -0.0605" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.003499999999999996 0 -0.0605" rpy="3.141592653589793 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2658,13 +2658,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2706,13 +2706,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2754,13 +2754,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2778,13 +2778,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2814,13 +2814,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2838,13 +2838,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2862,13 +2862,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -3004,24 +3004,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -3063,13 +3063,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
@@ -3087,178 +3087,178 @@
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07847939999999999 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
+      <pose>0.07847939999999998 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999999 -0.011812200000000009 -0.001214999999999966"/>
+    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999998 -0.011812200000000009 -0.001214999999999966"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012577000000000012 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.012577000000000005 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000012 -0.04040720000000002 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000005 -0.04040720000000002 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012575000000000003 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012574999999999996 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575000000000003 0.04040679999999998 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012574999999999996 0.04040679999999998 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013081000000000016 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.01308100000000001 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000016 -0.04040720000000002 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.01308100000000001 -0.04040720000000002 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013079 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.013078999999999993 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013079 0.04040679999999998 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999993 0.04040679999999998 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.042001689999999994 0.03156479999999999 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
+      <pose>0.04200169 0.03156479999999999 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.042001689999999994 0.03156479999999999 0.04913199999999998"/>
+    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.04200169 0.03156479999999999 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352114999999998 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352114999999999 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999998 0.007765700000000014 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999999 0.007765700000000014 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999998 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053784999999999986 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999998 -0.014429400000000002 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429400000000002 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.03412954999999998 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412954999999999 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999998 -0.0414999 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999999 -0.0414999 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.04378499999999999 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043785 0.017810999999999994 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999999 0.017810999999999994 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378500000000001 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.043785000000000004 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378500000000001 -0.014191800000000011 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785000000000004 -0.014191800000000011 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351379199999999 0.011314499999999963 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.043513791999999996 0.011314499999999963 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351379199999999 0.011314499999999963 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.043513791999999996 0.011314499999999963 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450335399999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.044503353999999995 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450335399999999 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503353999999995 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053133529999999984 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.05313352999999999 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133529999999984 0.017184099999999994 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313352999999999 0.017184099999999994 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
@@ -3276,25 +3276,25 @@
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915199999999996 0.04274479999999997 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.025915200000000003 0.04274479999999997 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915199999999996 0.04274479999999997 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.025915200000000003 0.04274479999999997 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999977 -0.041718700000000025 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
+      <pose>0.018459299999999984 -0.041718700000000025 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999977 -0.041718700000000025 -0.09295800000000004"/>
+    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999984 -0.041718700000000025 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
@@ -3368,45 +3368,45 @@
     <sensor name="l_upper_leg_ft_acc_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_acc_3b12" type="accelerometer">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_hip_2">
     <sensor name="l_upper_leg_ft_gyro_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_gyro_3b12" type="gyroscope">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_acc_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_acc_3b13" type="accelerometer">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_gyro_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_gyro_3b13" type="gyroscope">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
   </sensor>
   <gazebo>
     <pose>0.0 0.0 0.63 0.0 0.0 3.14</pose>
diff --git a/iCub/robots/iCubGazeboV2_5_plus/model.urdf b/iCub/robots/iCubGazeboV2_5_plus/model.urdf
index 9788760..e666461 100644
--- a/iCub/robots/iCubGazeboV2_5_plus/model.urdf
+++ b/iCub/robots/iCubGazeboV2_5_plus/model.urdf
@@ -247,12 +247,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
+      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.01" iyz="1.19785e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -261,15 +261,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
-    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
+    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -298,7 +298,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
+    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -335,12 +335,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="0.01" iyz="3.92498e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -349,7 +349,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -365,7 +365,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -386,7 +386,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -395,35 +395,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -444,14 +444,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -479,7 +479,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -500,35 +500,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -542,7 +542,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -563,19 +563,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="0.01" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="0.01" iyz="-1.59685e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -584,14 +584,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -621,7 +621,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -667,12 +667,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
+      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.01" iyz="1.20112e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -681,15 +681,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
-    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
+    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -718,7 +718,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
+    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -755,7 +755,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="0.01" iyz="3.9319e-06" izz="0.01"/>
     </inertial>
@@ -785,7 +785,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -806,7 +806,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -815,35 +815,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -864,7 +864,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -885,7 +885,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -920,35 +920,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -962,7 +962,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -983,19 +983,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="0.01" ixy="3.08362e-08" ixz="9.42153e-07" iyy="0.01" iyz="-1.58924e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1004,14 +1004,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1041,7 +1041,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1057,12 +1057,12 @@
   </joint>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1071,7 +1071,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.058310299999999995 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
+    <origin xyz="0.058310299999999995 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1247,7 +1247,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208552 0.03044339999999998 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
+    <origin xyz="0.05208552 0.03044339999999998 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -1275,7 +1275,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999999 -0.03117600000000001 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
+    <origin xyz="0.05504769999999999 -0.03117600000000001 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -1303,21 +1303,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.035753400000000005 0.04106279999999999 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
+    <origin xyz="0.035753400000000005 0.04106279999999999 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.023441900000000012 0.04799079999999998 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
+    <origin xyz="0.023441900000000012 0.04799079999999998 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.02427040000000001 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
+    <origin xyz="0.02427040000000001 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -1352,14 +1352,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.047748659999999984 -0.031231999999999996 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
+    <origin xyz="0.047748659999999984 -0.031231999999999996 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322408999999999 -0.01560180000000004 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
+    <origin xyz="0.05322408999999999 -0.01560180000000004 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -1373,21 +1373,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880466999999999 -0.031263 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
+    <origin xyz="0.04880466999999999 -0.031263 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999999 -0.01591290000000002 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
+    <origin xyz="0.05660089999999999 -0.01591290000000002 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.057010599999999995 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
+    <origin xyz="0.057010599999999995 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -1408,14 +1408,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641629999999995 0.01763889999999997 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
+    <origin xyz="0.052641629999999995 0.01763889999999997 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113137 0.032438499999999953 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
+    <origin xyz="0.04113137 0.032438499999999953 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -1436,7 +1436,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998319999999995 0.0012663999999999592 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
+    <origin xyz="0.052998319999999995 0.0012663999999999592 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -1450,7 +1450,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127079999999986 -0.030749000000000026 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
+    <origin xyz="0.045127079999999986 -0.030749000000000026 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -1485,12 +1485,12 @@
   </joint>
   <link name="r_ankle_1">
     <inertial>
-      <origin xyz="0.015143405473968807 -0.0008685000000000082 4.2859082720503316e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.015143405473968821 -0.0008685000000000082 4.2859082720503316e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.6803"/>
       <inertia ixx="0.0004046207392315529" ixy="8.523488844593136e-06" ixz="-2.8913590319053794e-05" iyy="0.0004379396781535379" iyz="3.7330395179426065e-05" izz="0.00031892819418424145"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272424511755 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424511754 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1499,7 +1499,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272424511755 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424511754 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1515,12 +1515,12 @@
   </joint>
   <link name="r_ankle_2">
     <inertial>
-      <origin xyz="0.0011452157753235048 -8.299999999988872e-06 -0.038511854107377785" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.0011452157753235187 -8.299999999988872e-06 -0.038511854107377785" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.265337"/>
       <inertia ixx="0.01" ixy="-7.94989e-08" ixz="8.24551e-09" iyy="0.01" iyz="2.0701e-05" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272442308745 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442308744 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1529,7 +1529,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272442308745 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442308744 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1537,7 +1537,7 @@
   </link>
   <joint name="r_ankle_roll" type="revolute">
     <origin xyz="0 0 0" rpy="0 0 0"/>
-    <axis xyz="-1.0000001561184808 -6.013654019199066e-16 1.197939497389039e-07"/>
+    <axis xyz="-1.0000001561184808 -6.013654019199066e-16 1.1979394973216095e-07"/>
     <parent link="r_ankle_1"/>
     <child link="r_ankle_2"/>
     <limit effort="37.0" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="7.64"/>
@@ -1545,12 +1545,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.039779742643594365 0.004553699994905444 -0.006311816589999797" rpy="-1.832595507822573 0 -1.5707963267948983"/>
+      <origin xyz="0.039779742643594365 0.004553699994905444 -0.006311816589999797" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
       <mass value="0.357881"/>
       <inertia ixx="0.00109611" ixy="-2.9193e-07" ixz="-3.70109e-05" iyy="0.00125706" iyz="5.10952e-06" izz="0.000215359"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.832595507822573 0 -1.5707963267948983"/>
+      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1566,7 +1566,7 @@
     </collision>
   </link>
   <joint name="r_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.0034999280659716164 0 -0.060500343280208146" rpy="3.141592652417863 0 0"/>
+    <origin xyz="-0.0034999280659716026 0 -0.060500343280208146" rpy="3.141592652417863 0 0"/>
     <parent link="r_ankle_2"/>
     <child link="r_foot"/>
     <dynamics damping="0.1"/>
@@ -1580,12 +1580,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1594,7 +1594,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1610,12 +1610,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0015761999999999998 -1.939999999998887e-05 -0.04405299999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0015761999999999929 -1.940000000000275e-05 -0.04405299999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.421106"/>
       <inertia ixx="0.000494284" ixy="1.5483e-07" ixz="-1.86308e-07" iyy="0.000288736" iyz="1.52962e-05" izz="0.000319008"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1624,14 +1624,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
+    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1640,12 +1640,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.0001229999999999981 -0.000282300000000027 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012299999999999117 -0.0002823000000000131 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="0.01" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="0.01" iyz="3.32338e-08" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370899980932098 0.07010000000001013 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.043708999809320984 0.07010000000001014 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1654,26 +1654,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370899980932098 0.07010000000001013 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.043708999809320984 0.07010000000001014 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008575000000000041 0 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008574999999999972 0 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868000000000023 0.00010179999999999911 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868000000000092 0.00010179999999999911 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370899980932098 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043708999809320984 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1682,7 +1682,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370899980932098 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043708999809320984 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1698,7 +1698,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.05125669999999998 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.051256699999999975 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1712,12 +1712,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.0009997000000000061 0.0034968999999999834 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.000999700000000013 0.0034968999999999834 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370899980931698 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980931699 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1726,7 +1726,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370899980931698 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980931699 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1742,12 +1742,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015152971856010333 0.0009021000000000029 4.2316556559285345e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.015152971856010347 0.0009021000000000029 4.2316556559285345e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447618553062084" ixy="-8.97867775831874e-06" ixz="2.9134846047326194e-05" iyy="0.00043720150287133953" iyz="3.730206268073148e-05" izz="0.00031828795462876227"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272424516864 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424516862 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1756,7 +1756,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272424516864 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424516862 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1772,12 +1772,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011452157753235326 -8.299999999974994e-06 -0.038511854107377674" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.0011452157753235465 -8.299999999974994e-06 -0.038511854107377674" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.265337"/>
       <inertia ixx="0.01" ixy="-7.94989e-08" ixz="8.24551e-09" iyy="0.01" iyz="2.0701e-05" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272442313178 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442313177 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1786,7 +1786,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272442313178 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442313177 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1794,7 +1794,7 @@
   </link>
   <joint name="l_ankle_roll" type="revolute">
     <origin xyz="0 0 0" rpy="0 0 0"/>
-    <axis xyz="1.0000001561184808 6.013654019199066e-16 -1.197939497389039e-07"/>
+    <axis xyz="1.0000001561184808 6.013654019199066e-16 -1.1979394973216095e-07"/>
     <parent link="l_ankle_1"/>
     <child link="l_ankle_2"/>
     <limit effort="37.0" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="7.64"/>
@@ -1823,7 +1823,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.0034999280659716164 0 -0.060500343280208146" rpy="-3.141592643239301 0 0"/>
+    <origin xyz="-0.0034999280659716026 0 -0.060500343280208146" rpy="-3.141592643239301 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2315,13 +2315,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2363,13 +2363,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2411,13 +2411,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2435,13 +2435,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2471,13 +2471,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2495,13 +2495,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2519,13 +2519,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -2661,24 +2661,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351373 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04351373 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351373 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351373 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.044503292 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.044503292 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.044503292 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503292 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -2696,13 +2696,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0537517 0.01572289999999999 -0.0043179999999999885 -1.5707962918786202 -1.5706802104434698 -1.221730721500941</pose>
+      <pose>0.0537517 0.01572289999999999 -0.0043179999999999885 -1.5707962918765586 -1.5706802104434696 -1.2217307215014315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b9" type="accelerometer">
     <parent link="r_lower_leg"/>
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   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b10" type="imu">
@@ -2720,238 +2720,238 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.01648010000000001 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
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   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
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   </gazebo>
   <sensor name="r_foot_mtb_acc_11b12" type="accelerometer">
     <parent link="r_foot"/>
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   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
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     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.0125771 -0.040407200000000004 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
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   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
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   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012575099999999992 0.040407 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
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   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
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   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
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   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
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   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
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     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
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   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
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     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
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   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
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   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
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   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
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     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
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       <always_on>1</always_on>
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     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999988 -0.04171870000000001 -0.09295800000000004"/>
+    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999994 -0.04171870000000001 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
diff --git a/iCub/robots/iCubGazeboV2_6/model.urdf b/iCub/robots/iCubGazeboV2_6/model.urdf
index 4024cab..cdfb5bb 100644
--- a/iCub/robots/iCubGazeboV2_6/model.urdf
+++ b/iCub/robots/iCubGazeboV2_6/model.urdf
@@ -23,12 +23,12 @@
   </link>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -37,7 +37,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -199,7 +199,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
+    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -213,7 +213,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
+    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -241,7 +241,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
+    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -269,21 +269,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
+    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
+    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
+    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -318,14 +318,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
+    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
+    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -339,21 +339,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
+    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
+    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
+    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -374,14 +374,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
+    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
+    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -402,7 +402,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
+    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -416,7 +416,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
+    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -511,12 +511,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.033600099999999994 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.03360009999999998 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.382866"/>
       <inertia ixx="0.00120946" ixy="3.74585e-07" ixz="-5.78759e-05" iyy="0.00141439" iyz="-7.80325e-06" izz="0.000273599"/>
     </inertial>
     <visual>
-      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -539,14 +539,14 @@
   </joint>
   <link name="r_sole"/>
   <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.003500000000000003 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
+    <origin xyz="0.003499999999999996 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_0"/>
   <joint name="r_sole_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.060476699999999994 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.06047669999999999 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_0"/>
     <dynamics damping="0.1"/>
@@ -560,14 +560,14 @@
   </joint>
   <link name="r_sole_skin_2"/>
   <joint name="r_sole_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.09320869999999999 -0.032368 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.09320869999999998 -0.032368 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_3"/>
   <joint name="r_sole_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.11158309999999998 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.11158309999999996 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_3"/>
     <dynamics damping="0.1"/>
@@ -609,112 +609,112 @@
   </joint>
   <link name="r_sole_skin_12"/>
   <joint name="r_sole_skin_12_fixed_joint" type="fixed">
-    <origin xyz="0.08286799999999998 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.08286799999999997 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_12"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_13"/>
   <joint name="r_sole_skin_13_fixed_joint" type="fixed">
-    <origin xyz="0.10124239999999998 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.10124239999999997 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_13"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_14"/>
   <joint name="r_sole_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.050136039999999986 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.05013603999999998 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_14"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_15"/>
   <joint name="r_sole_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.04611918999999999 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.046119189999999984 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_17"/>
   <joint name="r_sole_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.02968549999999999 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.029685499999999997 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_18"/>
   <joint name="r_sole_skin_18_fixed_joint" type="fixed">
-    <origin xyz="-0.0480599 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.04805990000000001 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_18"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_19"/>
   <joint name="r_sole_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.052076700000000004 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.05207670000000001 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_20"/>
   <joint name="r_sole_skin_20_fixed_joint" type="fixed">
-    <origin xyz="-0.03771920000000001 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.037719200000000015 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_21"/>
   <joint name="r_sole_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.03577849999999999 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.03577849999999998 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_21"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_22"/>
   <joint name="r_sole_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.027744799999999997 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.02774479999999999 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_22"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_24"/>
   <joint name="r_sole_skin_24_fixed_joint" type="fixed">
-    <origin xyz="-0.004987199999999997 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.004987200000000004 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_24"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_25"/>
   <joint name="r_sole_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.013387200000000002 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.013387199999999995 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_25"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_26"/>
   <joint name="r_sole_skin_26_fixed_joint" type="fixed">
-    <origin xyz="0.017404099999999992 0.0133722 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.017404099999999985 0.0133722 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_26"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_27"/>
   <joint name="r_sole_skin_27_fixed_joint" type="fixed">
-    <origin xyz="0.0030464999999999867 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.0030464999999999798 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_27"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_28"/>
   <joint name="r_sole_skin_28_fixed_joint" type="fixed">
-    <origin xyz="-0.015327899999999992 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.015327899999999998 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_28"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_29"/>
   <joint name="r_sole_skin_29_fixed_joint" type="fixed">
-    <origin xyz="-0.019344799999999995 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.019344800000000002 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_29"/>
     <dynamics damping="0.1"/>
@@ -938,12 +938,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
+      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.01" iyz="1.19785e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -952,15 +952,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
-    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
+    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -989,7 +989,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
+    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -1026,12 +1026,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="0.01" iyz="3.92498e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1040,7 +1040,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1056,7 +1056,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -1077,7 +1077,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -1086,35 +1086,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1135,14 +1135,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -1170,7 +1170,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -1191,35 +1191,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1254,19 +1254,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="0.01" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="0.01" iyz="-1.59685e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1275,14 +1275,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -1312,7 +1312,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -1358,12 +1358,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
+      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.01" iyz="1.20112e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1372,15 +1372,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
-    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
+    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -1409,7 +1409,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
+    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -1446,7 +1446,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="0.01" iyz="3.9319e-06" izz="0.01"/>
     </inertial>
@@ -1476,7 +1476,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -1497,7 +1497,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -1506,35 +1506,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1555,7 +1555,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -1576,7 +1576,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -1611,35 +1611,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1653,7 +1653,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1674,19 +1674,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="0.01" ixy="3.08362e-08" ixz="9.42153e-07" iyy="0.01" iyz="-1.58924e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1695,14 +1695,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1732,7 +1732,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1748,12 +1748,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1762,7 +1762,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1778,12 +1778,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0011062999999999976 1.730000000001175e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0011062999999999906 1.7299999999997873e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.415987"/>
       <inertia ixx="0.000475741" ixy="2.89355e-07" ixz="-6.72876e-08" iyy="0.000279828" iyz="6.7417e-06" izz="0.000307828"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1792,14 +1792,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
+    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1808,12 +1808,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.00012290000000000217 -0.0002822999999999992 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012289999999999524 -0.00028229999999998534 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="0.01" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="0.01" iyz="3.32338e-08" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1822,26 +1822,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008301999999999962 7.519999999999749e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008301999999999893 7.519999999998361e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868999999999913 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868999999999982 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1850,7 +1850,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1866,7 +1866,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.051256699999999995 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.05125669999999999 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1880,12 +1880,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.0009997999999999951 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.000999800000000002 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1894,7 +1894,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1910,12 +1910,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015153099999999989 0.0009020000000000139 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.015153099999999996 0.000902 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447429734460005" ixy="-1.1322603878053663e-06" ixz="3.046651057758992e-05" iyy="0.0004478873540695352" iyz="2.5726583414130826e-06" izz="0.0003076030453774591"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1924,7 +1924,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1940,12 +1940,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011446999999999985 3.599999999992498e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0011447000000000054 3.5999999999786203e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.265122"/>
       <inertia ixx="0.01" ixy="-4.74606e-08" ixz="4.94571e-08" iyy="0.01" iyz="-4.29975e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1954,7 +1954,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1991,7 +1991,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.003500000000000003 0 -0.0605" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.003499999999999996 0 -0.0605" rpy="3.141592653589793 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2658,13 +2658,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2706,13 +2706,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2754,13 +2754,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2778,13 +2778,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2814,13 +2814,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2838,13 +2838,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2862,13 +2862,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -3004,24 +3004,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -3063,13 +3063,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
@@ -3087,178 +3087,178 @@
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07847939999999999 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
+      <pose>0.07847939999999998 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999999 -0.011812200000000009 -0.001214999999999966"/>
+    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999998 -0.011812200000000009 -0.001214999999999966"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012577000000000012 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.012577000000000005 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000012 -0.04040720000000002 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000005 -0.04040720000000002 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012575000000000003 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012574999999999996 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575000000000003 0.04040679999999998 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012574999999999996 0.04040679999999998 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013081000000000016 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.01308100000000001 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000016 -0.04040720000000002 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.01308100000000001 -0.04040720000000002 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013079 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.013078999999999993 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013079 0.04040679999999998 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999993 0.04040679999999998 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.042001689999999994 0.03156479999999999 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
+      <pose>0.04200169 0.03156479999999999 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.042001689999999994 0.03156479999999999 0.04913199999999998"/>
+    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.04200169 0.03156479999999999 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352114999999998 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352114999999999 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999998 0.007765700000000014 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999999 0.007765700000000014 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999998 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053784999999999986 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999998 -0.014429400000000002 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429400000000002 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.03412954999999998 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412954999999999 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999998 -0.0414999 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999999 -0.0414999 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.04378499999999999 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043785 0.017810999999999994 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999999 0.017810999999999994 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378500000000001 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.043785000000000004 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378500000000001 -0.014191800000000011 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785000000000004 -0.014191800000000011 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351379199999999 0.011314499999999963 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.043513791999999996 0.011314499999999963 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351379199999999 0.011314499999999963 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.043513791999999996 0.011314499999999963 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450335399999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.044503353999999995 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450335399999999 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503353999999995 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053133529999999984 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.05313352999999999 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133529999999984 0.017184099999999994 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313352999999999 0.017184099999999994 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
@@ -3276,25 +3276,25 @@
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915199999999996 0.04274479999999997 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.025915200000000003 0.04274479999999997 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915199999999996 0.04274479999999997 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.025915200000000003 0.04274479999999997 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999977 -0.041718700000000025 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
+      <pose>0.018459299999999984 -0.041718700000000025 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999977 -0.041718700000000025 -0.09295800000000004"/>
+    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999984 -0.041718700000000025 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
@@ -3368,45 +3368,45 @@
     <sensor name="l_upper_leg_ft_acc_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_acc_3b12" type="accelerometer">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_hip_2">
     <sensor name="l_upper_leg_ft_gyro_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_gyro_3b12" type="gyroscope">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_acc_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_acc_3b13" type="accelerometer">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_gyro_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_gyro_3b13" type="gyroscope">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
   </sensor>
   <gazebo>
     <pose>0.0 0.0 0.63 0.0 0.0 3.14</pose>
diff --git a/iCub/robots/iCubGazeboV2_7/model.urdf b/iCub/robots/iCubGazeboV2_7/model.urdf
index 3dba975..5d055d0 100644
--- a/iCub/robots/iCubGazeboV2_7/model.urdf
+++ b/iCub/robots/iCubGazeboV2_7/model.urdf
@@ -23,12 +23,12 @@
   </link>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -37,7 +37,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -199,7 +199,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
+    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -213,7 +213,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
+    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -241,7 +241,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
+    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -269,21 +269,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
+    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
+    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
+    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -318,14 +318,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
+    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
+    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -339,21 +339,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
+    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
+    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
+    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -374,14 +374,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
+    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
+    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -402,7 +402,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
+    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -416,7 +416,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
+    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -511,12 +511,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.033600099999999994 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.03360009999999998 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.382866"/>
       <inertia ixx="0.00120946" ixy="3.74585e-07" ixz="-5.78759e-05" iyy="0.00141439" iyz="-7.80325e-06" izz="0.000273599"/>
     </inertial>
     <visual>
-      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -539,14 +539,14 @@
   </joint>
   <link name="r_sole"/>
   <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.003500000000000003 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
+    <origin xyz="0.003499999999999996 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_0"/>
   <joint name="r_sole_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.060476699999999994 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.06047669999999999 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_0"/>
     <dynamics damping="0.1"/>
@@ -560,14 +560,14 @@
   </joint>
   <link name="r_sole_skin_2"/>
   <joint name="r_sole_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.09320869999999999 -0.032368 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.09320869999999998 -0.032368 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_3"/>
   <joint name="r_sole_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.11158309999999998 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.11158309999999996 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_3"/>
     <dynamics damping="0.1"/>
@@ -609,112 +609,112 @@
   </joint>
   <link name="r_sole_skin_12"/>
   <joint name="r_sole_skin_12_fixed_joint" type="fixed">
-    <origin xyz="0.08286799999999998 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.08286799999999997 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_12"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_13"/>
   <joint name="r_sole_skin_13_fixed_joint" type="fixed">
-    <origin xyz="0.10124239999999998 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.10124239999999997 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_13"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_14"/>
   <joint name="r_sole_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.050136039999999986 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.05013603999999998 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_14"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_15"/>
   <joint name="r_sole_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.04611918999999999 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.046119189999999984 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_17"/>
   <joint name="r_sole_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.02968549999999999 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.029685499999999997 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_18"/>
   <joint name="r_sole_skin_18_fixed_joint" type="fixed">
-    <origin xyz="-0.0480599 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.04805990000000001 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_18"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_19"/>
   <joint name="r_sole_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.052076700000000004 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.05207670000000001 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_20"/>
   <joint name="r_sole_skin_20_fixed_joint" type="fixed">
-    <origin xyz="-0.03771920000000001 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.037719200000000015 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_21"/>
   <joint name="r_sole_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.03577849999999999 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.03577849999999998 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_21"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_22"/>
   <joint name="r_sole_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.027744799999999997 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.02774479999999999 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_22"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_24"/>
   <joint name="r_sole_skin_24_fixed_joint" type="fixed">
-    <origin xyz="-0.004987199999999997 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.004987200000000004 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_24"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_25"/>
   <joint name="r_sole_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.013387200000000002 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.013387199999999995 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_25"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_26"/>
   <joint name="r_sole_skin_26_fixed_joint" type="fixed">
-    <origin xyz="0.017404099999999992 0.0133722 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.017404099999999985 0.0133722 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_26"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_27"/>
   <joint name="r_sole_skin_27_fixed_joint" type="fixed">
-    <origin xyz="0.0030464999999999867 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.0030464999999999798 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_27"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_28"/>
   <joint name="r_sole_skin_28_fixed_joint" type="fixed">
-    <origin xyz="-0.015327899999999992 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.015327899999999998 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_28"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_29"/>
   <joint name="r_sole_skin_29_fixed_joint" type="fixed">
-    <origin xyz="-0.019344799999999995 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.019344800000000002 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_29"/>
     <dynamics damping="0.1"/>
@@ -938,12 +938,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
+      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.01" iyz="1.19785e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -952,15 +952,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
-    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
+    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -989,7 +989,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
+    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -1026,12 +1026,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="0.01" iyz="3.92498e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1040,7 +1040,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1056,7 +1056,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -1077,7 +1077,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -1086,35 +1086,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1135,14 +1135,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -1170,7 +1170,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -1191,35 +1191,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1254,19 +1254,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="0.01" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="0.01" iyz="-1.59685e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1275,14 +1275,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -1312,7 +1312,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -1358,12 +1358,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
+      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.01" iyz="1.20112e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1372,15 +1372,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
-    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
+    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -1409,7 +1409,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
+    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -1446,7 +1446,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="0.01" iyz="3.9319e-06" izz="0.01"/>
     </inertial>
@@ -1476,7 +1476,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -1497,7 +1497,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -1506,35 +1506,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1555,7 +1555,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -1576,7 +1576,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -1611,35 +1611,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1653,7 +1653,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1674,19 +1674,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="0.01" ixy="3.08362e-08" ixz="9.42153e-07" iyy="0.01" iyz="-1.58924e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1695,14 +1695,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1732,7 +1732,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1748,12 +1748,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1762,7 +1762,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1778,12 +1778,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0011062999999999976 1.730000000001175e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0011062999999999906 1.7299999999997873e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.415987"/>
       <inertia ixx="0.000475741" ixy="2.89355e-07" ixz="-6.72876e-08" iyy="0.000279828" iyz="6.7417e-06" izz="0.000307828"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1792,14 +1792,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
+    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1808,12 +1808,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.00012290000000000217 -0.0002822999999999992 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012289999999999524 -0.00028229999999998534 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="0.01" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="0.01" iyz="3.32338e-08" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1822,26 +1822,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008301999999999962 7.519999999999749e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008301999999999893 7.519999999998361e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868999999999913 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868999999999982 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1850,7 +1850,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1866,7 +1866,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.051256699999999995 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.05125669999999999 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1880,12 +1880,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.0009997999999999951 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.000999800000000002 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1894,7 +1894,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1910,12 +1910,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015153099999999989 0.0009020000000000139 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.015153099999999996 0.000902 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447429734460005" ixy="-1.1322603878053663e-06" ixz="3.046651057758992e-05" iyy="0.0004478873540695352" iyz="2.5726583414130826e-06" izz="0.0003076030453774591"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1924,7 +1924,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1940,12 +1940,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011446999999999985 3.599999999992498e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0011447000000000054 3.5999999999786203e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.265122"/>
       <inertia ixx="0.01" ixy="-4.74606e-08" ixz="4.94571e-08" iyy="0.01" iyz="-4.29975e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1954,7 +1954,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1991,7 +1991,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.003500000000000003 0 -0.0605" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.003499999999999996 0 -0.0605" rpy="3.141592653589793 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2674,13 +2674,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2722,13 +2722,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2770,13 +2770,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2794,13 +2794,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2830,13 +2830,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2854,13 +2854,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2878,13 +2878,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -3020,24 +3020,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -3079,13 +3079,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
@@ -3103,178 +3103,178 @@
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07847939999999999 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
+      <pose>0.07847939999999998 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999999 -0.011812200000000009 -0.001214999999999966"/>
+    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999998 -0.011812200000000009 -0.001214999999999966"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012577000000000012 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.012577000000000005 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000012 -0.04040720000000002 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000005 -0.04040720000000002 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012575000000000003 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012574999999999996 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575000000000003 0.04040679999999998 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012574999999999996 0.04040679999999998 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013081000000000016 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.01308100000000001 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000016 -0.04040720000000002 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.01308100000000001 -0.04040720000000002 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013079 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.013078999999999993 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013079 0.04040679999999998 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999993 0.04040679999999998 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.042001689999999994 0.03156479999999999 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
+      <pose>0.04200169 0.03156479999999999 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.042001689999999994 0.03156479999999999 0.04913199999999998"/>
+    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.04200169 0.03156479999999999 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352114999999998 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352114999999999 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999998 0.007765700000000014 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999999 0.007765700000000014 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999998 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053784999999999986 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999998 -0.014429400000000002 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429400000000002 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.03412954999999998 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412954999999999 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999998 -0.0414999 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999999 -0.0414999 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.04378499999999999 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043785 0.017810999999999994 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999999 0.017810999999999994 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378500000000001 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.043785000000000004 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378500000000001 -0.014191800000000011 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785000000000004 -0.014191800000000011 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351379199999999 0.011314499999999963 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.043513791999999996 0.011314499999999963 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351379199999999 0.011314499999999963 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.043513791999999996 0.011314499999999963 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450335399999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.044503353999999995 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450335399999999 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503353999999995 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053133529999999984 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.05313352999999999 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133529999999984 0.017184099999999994 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313352999999999 0.017184099999999994 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
@@ -3292,25 +3292,25 @@
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915199999999996 0.04274479999999997 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.025915200000000003 0.04274479999999997 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915199999999996 0.04274479999999997 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.025915200000000003 0.04274479999999997 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999977 -0.041718700000000025 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
+      <pose>0.018459299999999984 -0.041718700000000025 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999977 -0.041718700000000025 -0.09295800000000004"/>
+    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999984 -0.041718700000000025 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
@@ -3384,45 +3384,45 @@
     <sensor name="l_upper_leg_ft_acc_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_acc_3b12" type="accelerometer">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_hip_2">
     <sensor name="l_upper_leg_ft_gyro_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_gyro_3b12" type="gyroscope">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_acc_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_acc_3b13" type="accelerometer">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_gyro_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_gyro_3b13" type="gyroscope">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
   </sensor>
   <gazebo>
     <pose>0.0 0.0 0.63 0.0 0.0 3.14</pose>
diff --git a/iCub/robots/iCubGazeboV3/model.urdf b/iCub/robots/iCubGazeboV3/model.urdf
index b1a7b55..2c237f0 100644
--- a/iCub/robots/iCubGazeboV3/model.urdf
+++ b/iCub/robots/iCubGazeboV3/model.urdf
@@ -398,12 +398,12 @@
   </joint>
   <link name="l_shoulder_1">
     <inertial>
-      <origin xyz="0.0002918276617865645 0.05723090680782866 0.0005026028232598678" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
+      <origin xyz="0.0002918276617865645 0.05723090680782866 0.0005026028232598713" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
       <mass value="1.45562"/>
       <inertia ixx="0.01" ixy="0.000611891" ixz="0.000565594" iyy="0.01" iyz="-0.000159546" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.030411223823216205 -0.02914047750374663 0.019095766539677893" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
+      <origin xyz="0.030411223823216205 -0.02914047750374663 0.019095766539677896" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -412,7 +412,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.030411223823216205 -0.02914047750374663 0.019095766539677893" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
+      <origin xyz="0.030411223823216205 -0.02914047750374663 0.019095766539677896" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -420,7 +420,7 @@
   </link>
   <joint name="l_shoulder_pitch" type="revolute">
     <origin xyz="-0.020835100000000002 0.0397423 0.1052029" rpy="0.25326162380993705 -1.1977334179319483e-07 -0.26179930184968747"/>
-    <axis xyz="3.323079797554136e-07 0.9999999783534342 1.4452224303420037e-07"/>
+    <axis xyz="3.323079797673039e-07 0.9999999783534342 1.4452224303407313e-07"/>
     <parent link="chest"/>
     <child link="l_shoulder_1"/>
     <limit effort="50000" lower="-1.53588974175501" upper="0.22689280275926285" velocity="120.0"/>
@@ -428,12 +428,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.003293362025486902 0.0002563804707528261 -0.027865685757097337" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="0.0032933620254868984 0.0002563804707528261 -0.027865685757097337" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <mass value="0.322126"/>
       <inertia ixx="0.01" ixy="-3.5032e-05" ixz="-2.4436e-05" iyy="0.01" iyz="-5.52877e-05" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.026393097869193385 -0.14153112610649207 -0.007252397644602134" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="0.026393097869193412 -0.14153112610649204 -0.007252397644602138" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -442,15 +442,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.026393097869193385 -0.14153112610649207 -0.007252397644602134" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="0.026393097869193412 -0.14153112610649204 -0.007252397644602138" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="0.004992849331690818 0.111499838456099 0.00026865022773668243" rpy="-0.17453296140985003 -0.05374759931933849 0"/>
-    <axis xyz="0.9999998262417685 2.0348252625938444e-07 -4.023022846062156e-08"/>
+    <origin xyz="0.004992849331690818 0.111499838456099 0.0002686502277366859" rpy="-0.17453296140985 -0.05374759931933852 0"/>
+    <axis xyz="0.9999998262417684 2.0348252649342313e-07 -4.0230228454118944e-08"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.20943951023931956" upper="2.792526803190927" velocity="120.0"/>
@@ -458,12 +458,12 @@
   </joint>
   <link name="l_shoulder_3">
     <inertial>
-      <origin xyz="-4.416264022005789e-06 9.587749727052453e-05 -0.007326213473011087" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="-4.41626402200232e-06 9.587749727052453e-05 -0.007326213473011087" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <mass value="0.256128"/>
       <inertia ixx="0.01" ixy="-3.76336e-07" ixz="2.93189e-06" iyy="0.01" iyz="-3.52325e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.030743231026171717 -0.14153148936381543 0.04704764107945959" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="0.03074323102617175 -0.14153148936381543 0.047047641079459586" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -472,26 +472,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.030743231026171717 -0.14153148936381543 0.04704764107945959" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="0.03074323102617175 -0.14153148936381543 0.047047641079459586" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_arm_ft_sensor" type="fixed">
-    <origin xyz="-0.004350133156978318 3.632573233602887e-07 -0.05430003872406172" rpy="0 0 0"/>
+    <origin xyz="-0.004350133156978329 3.632573233880443e-07 -0.05430003872406172" rpy="0 0 0"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_arm">
     <inertial>
-      <origin xyz="-4.828549686676509e-06 0.0019434824578758204 -0.04747357946817407" rpy="-0.06212860830092193 0.0714268908124578 0.27099931149673545"/>
+      <origin xyz="-4.828549686676509e-06 0.0019434824578757927 -0.04747357946817407" rpy="-0.062128608300921935 0.07142689081245782 0.27099931149673573"/>
       <mass value="2.06334"/>
       <inertia ixx="0.00368146" ixy="-5.03894e-06" ixz="0.000261155" iyy="0.00382639" iyz="0.000205684" izz="0.00167002"/>
     </inertial>
     <visual>
-      <origin xyz="0.030743149468679207 -0.14153106591133105 0.06954758245258398" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="0.030743149468679242 -0.14153106591133105 0.06954758245258398" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -500,15 +500,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.030743149468679207 -0.14153106591133105 0.06954758245258398" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="0.030743149468679242 -0.14153106591133105 0.06954758245258398" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0 -4.2345248449371375e-07 -0.022499941373124423" rpy="0 0 0"/>
-    <axis xyz="2.2276474049102235e-08 -4.393786247302041e-08 -1.0000002566182309"/>
+    <origin xyz="0 -4.2345248449371375e-07 -0.02249994137312443" rpy="0 0 0"/>
+    <axis xyz="2.227647404040578e-08 -4.393786245948661e-08 -1.0000002566182309"/>
     <parent link="l_shoulder_3"/>
     <child link="l_upper_arm"/>
     <limit effort="50000" lower="-0.8726646259971648" upper="1.3962634015954636" velocity="120.0"/>
@@ -516,12 +516,12 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="-0.010241946078109288 0.0018224069895867168 -0.015089620258555453" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="-0.010241946078109292 0.0018224069895867168 -0.01508962025855548" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <mass value="0.230254"/>
       <inertia ixx="0.01" ixy="7.51175e-07" ixz="-9.8725e-06" iyy="0.01" iyz="-1.03338e-05" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.02074321923375979 -0.14003141848790218 0.19324791999016774" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="0.02074321923375982 -0.14003141848790218 0.19324791999016772" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_elbow_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -530,7 +530,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.02074321923375979 -0.14003141848790218 0.19324791999016774" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_elbow_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -538,7 +538,7 @@
   </link>
   <joint name="l_elbow" type="revolute">
     <origin xyz="0.009999930234919404 -0.001499647423428896 -0.12370033753758375" rpy="0 0 0"/>
-    <axis xyz="-8.811824174789715e-08 -1.0000002733514628 4.404736120498342e-08"/>
+    <axis xyz="-8.811824154381087e-08 -1.0000002733514628 4.4047361189014644e-08"/>
     <parent link="l_upper_arm"/>
     <child link="l_elbow_1"/>
     <limit effort="50000" lower="-0.05235987755982989" upper="1.3089969389957472" velocity="120.0"/>
@@ -546,12 +546,12 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="-0.0062698741022980675 -4.68551245806359e-05 -0.030648347755607208" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="-0.006269874102298061 -4.68551245806359e-05 -0.030648347755607153" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
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       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_forearm_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -560,15 +560,15 @@
       </material>
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+      <origin xyz="0.03574308988793752 -0.14203106199153712 0.24854798357264754" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_forearm_prt.stl" scale="0.001 0.001 0.001"/>
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   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="-0.0149998706541777 0.0019996435036348514 -0.0553000635824798" rpy="0 0 0"/>
-    <axis xyz="2.2276474049102235e-08 -4.393786247302041e-08 -1.0000002566182309"/>
+    <origin xyz="-0.014999870654177704 0.0019996435036348514 -0.055300063582479825" rpy="0 0 0"/>
+    <axis xyz="2.227647404040578e-08 -4.393786245948661e-08 -1.0000002566182309"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
     <limit effort="50000" lower="-1.53588974175501" upper="1.53588974175501" velocity="120.0"/>
@@ -576,12 +576,12 @@
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.014390150453737368 -0.0005083960996520864 -9.893035257668714e-05" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="-0.014390150453737368 -0.0005083960996520587 -9.893035257668714e-05" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <mass value="0.0344005"/>
       <inertia ixx="0.01" ixy="-9.19776e-07" ixz="-1.4756e-08" iyy="0.01" iyz="-1.11493e-07" izz="0.01"/>
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     <visual>
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+      <origin xyz="0.019143073953651363 -0.14403795720960977 0.3560476247151885" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -590,15 +590,15 @@
       </material>
     </visual>
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+      <origin xyz="0.019143073953651363 -0.14403795720960977 0.3560476247151885" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
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   <joint name="l_wrist_pitch" type="revolute">
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-    <axis xyz="-0.9999998262417685 -2.0348252625938444e-07 4.023022846062156e-08"/>
+    <origin xyz="0.016600015934286182 0.002006895218072541 -0.10749964114254112" rpy="0 0 0"/>
+    <axis xyz="-0.9999998262417684 -2.0348252649342313e-07 4.0230228454118944e-08"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
     <limit effort="50000" lower="-1.2217304763960306" upper="0.4363323129985824" velocity="120.0"/>
@@ -606,12 +606,12 @@
   </joint>
   <link name="l_hand">
     <inertial>
-      <origin xyz="0.004786523181334726 -0.0061337378723908265 -0.0672770617484692" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="0.004786523181334722 -0.0061337378723908265 -0.0672770617484692" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
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     <visual>
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+      <origin xyz="0.03544319569838081 -0.13703856452803848 0.35604770325391955" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_hand_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -620,15 +620,15 @@
       </material>
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+      <origin xyz="0.03544319569838081 -0.13703856452803848 0.35604770325391955" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_hand_prt.stl" scale="0.001 0.001 0.001"/>
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     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.016300121744729387 -0.006999392681571209 0" rpy="0 0 0"/>
-    <axis xyz="8.811824174789715e-08 1.0000002733514628 -4.404736120498342e-08"/>
+    <origin xyz="-0.016300121744729387 -0.0069993926815711816 0" rpy="0 0 0"/>
+    <axis xyz="8.811824154381087e-08 1.0000002733514628 -4.4047361189014644e-08"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
     <limit effort="50000" lower="-0.2617993877991494" upper="0.6108652381980153" velocity="120.0"/>
@@ -658,7 +658,7 @@
   </link>
   <joint name="r_shoulder_pitch" type="revolute">
     <origin xyz="-0.020835100000000002 -0.0397423 0.1052029" rpy="-0.25326164431680925 2.3014774394592079e-07 0.26179970938509745"/>
-    <axis xyz="1.499044390098182e-07 0.9999999783534812 -1.2401537036323317e-07"/>
+    <axis xyz="1.499044390054707e-07 0.9999999783534812 -1.2401537036188515e-07"/>
     <parent link="chest"/>
     <child link="r_shoulder_1"/>
     <limit effort="50000" lower="-1.53588974175501" upper="0.22689280275926285" velocity="120.0"/>
@@ -666,12 +666,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="0.000711844151437005 -0.00028997131506725005 -0.027865575116629175" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.0007118441514370015 -0.0002899713150672778 -0.027865575116629175" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
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       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -680,15 +680,15 @@
       </material>
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+      <origin xyz="0.023893261066846316 0.14153171676199236 -0.007252350207672715" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
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   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="0.007489008185044645 -0.11150041046657978 0.0004027858966975245" rpy="0.17453306234069352 -0.05374779257913059 -6.132332688804098e-07"/>
-    <axis xyz="-0.9999998262417886 4.210501434612913e-08 2.4630481182686846e-08"/>
+    <origin xyz="0.007489008185044645 -0.11150041046657978 0.0004027858966975245" rpy="0.17453306234069357 -0.053747792579130614 -6.132332688812785e-07"/>
+    <axis xyz="-0.9999998262417886 4.2105014356162707e-08 2.4630481189336084e-08"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.20943951023931956" upper="2.792526803190927" velocity="120.0"/>
@@ -696,12 +696,12 @@
   </joint>
   <link name="r_shoulder_3">
     <inertial>
-      <origin xyz="-8.928496484206933e-05 -3.376971940446949e-05 -0.007594500252887257" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="-8.928496484206933e-05 -3.376971940446949e-05 -0.00759450025288725" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
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+      <origin xyz="0.030743207452236198 0.1415314977120318 0.04704763137021829" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -710,26 +710,26 @@
       </material>
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       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
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   <joint name="r_arm_ft_sensor" type="fixed">
-    <origin xyz="-0.006849946385389872 2.1904996058697002e-07 -0.05429998157789099" rpy="0 0 0"/>
+    <origin xyz="-0.006849946385389875 2.1904996055921444e-07 -0.05429998157789099" rpy="0 0 0"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_upper_arm">
     <inertial>
-      <origin xyz="-4.827495476422694e-06 -0.001943485876269635 -0.04747357932833829" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="-4.8274954764261635e-06 -0.001943485876269635 -0.04747357932833829" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -738,15 +738,15 @@
       </material>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
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   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="0 4.2183273077367467e-07 -0.02249994137315358" rpy="0 0 0"/>
-    <axis xyz="-3.787621790776764e-08 2.805197706023475e-08 1.0000002566182309"/>
+    <origin xyz="0 4.2183273077367467e-07 -0.022499941373153573" rpy="0 0 0"/>
+    <axis xyz="-3.787621790513063e-08 2.805197706068352e-08 1.0000002566182309"/>
     <parent link="r_shoulder_3"/>
     <child link="r_upper_arm"/>
     <limit effort="50000" lower="-0.8726646259971648" upper="1.3962634015954636" velocity="120.0"/>
@@ -754,12 +754,12 @@
   </joint>
   <link name="r_elbow_1">
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+      <origin xyz="-0.011624818009452066 -0.00180281594701992 0.022300137248866647" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
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+      <origin xyz="0.020743193621214673 0.14003143574727359 0.19324791023291824" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_elbow_1_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -768,15 +768,15 @@
       </material>
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+      <origin xyz="0.020743193621214673 0.14003143574727359 0.19324791023291824" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
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   <joint name="r_elbow" type="revolute">
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-    <axis xyz="2.4949582807394525e-07 -1.0000002733514362 2.7942487010105877e-08"/>
+    <origin xyz="0.009999931922603816 0.0014996401320274133 -0.1237003374895465" rpy="0 0 0"/>
+    <axis xyz="2.4949582809984105e-07 -1.0000002733514362 2.7942487004772865e-08"/>
     <parent link="r_upper_arm"/>
     <child link="r_elbow_1"/>
     <limit effort="50000" lower="-0.05235987755982989" upper="1.3089969389957472" velocity="120.0"/>
@@ -805,8 +805,8 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.014999869468812953 -0.0019996499053189787 -0.05530006367251966" rpy="0 0 0"/>
-    <axis xyz="-3.787621790776764e-08 2.805197706023475e-08 1.0000002566182309"/>
+    <origin xyz="-0.014999869468812953 -0.001999649905318951 -0.05530006367251966" rpy="0 0 0"/>
+    <axis xyz="-3.787621790513063e-08 2.805197706068352e-08 1.0000002566182309"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
     <limit effort="50000" lower="-1.53588974175501" upper="1.53588974175501" velocity="120.0"/>
@@ -814,12 +814,12 @@
   </joint>
   <link name="r_wrist_1">
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     </inertial>
     <visual>
-      <origin xyz="0.019443109736078983 0.14403852854340418 0.3560480536175445" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.019443109736078983 0.1440385285434042 0.35604805361754455" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -828,7 +828,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.019443109736078983 0.14403852854340418 0.3560480536175445" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.019443109736078983 0.1440385285434042 0.35604805361754455" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -836,7 +836,7 @@
   </link>
   <joint name="r_wrist_pitch" type="revolute">
     <origin xyz="0.016299953353948633 -0.002007442890811839 -0.10750007971210637" rpy="0 0 0"/>
-    <axis xyz="0.9999998262417886 -4.210501434612913e-08 -2.4630481182686846e-08"/>
+    <axis xyz="0.9999998262417886 -4.2105014356162707e-08 -2.4630481189336084e-08"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
     <limit effort="50000" lower="-1.2217304763960306" upper="0.4363323129985824" velocity="120.0"/>
@@ -844,12 +844,12 @@
   </joint>
   <link name="r_hand">
     <inertial>
-      <origin xyz="0.004828314385249669 0.00615667237451184 -0.0671378028889843" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.004828314385249662 0.00615667237451184 -0.0671378028889843" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <mass value="0.264229"/>
       <inertia ixx="0.01" ixy="4.7873e-05" ixz="1.1114e-05" iyy="0.01" iyz="1.14469e-05" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.03574323261035172 0.1370391384923124 0.35604813291443793" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.03574323261035171 0.1370391384923124 0.35604813291443793" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_hand_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -858,15 +858,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.03574323261035172 0.1370391384923124 0.35604813291443793" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.03574323261035171 0.1370391384923124 0.35604813291443793" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_hand_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="continuous">
-    <origin xyz="-0.016300122874272734 0.006999390051091792 0" rpy="0 0 0"/>
-    <axis xyz="-2.4949582807394525e-07 1.0000002733514362 -2.7942487010105877e-08"/>
+    <origin xyz="-0.016300122874272734 0.0069993900510918194 0" rpy="0 0 0"/>
+    <axis xyz="-2.4949582809984105e-07 1.0000002733514362 -2.7942487004772865e-08"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
     <dynamics damping="0.1"/>
@@ -1524,7 +1524,7 @@
         <frame>sensor</frame>
         <measure_direction>child_to_parent</measure_direction>
       </force_torque>
-      <pose>-0.004350133156978318 3.632573233602887e-07 -0.05430003872406172 3.141592646862139 -3.10468332187885e-08 -1.5707962571980942</pose>
+      <pose>-0.004350133156978329 3.632573233880443e-07 -0.05430003872406172 3.141592646862139 -3.104683320142575e-08 -1.5707962571980942</pose>
       <plugin name="left_arm_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
   <yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_left_arm_ft.ini</yarpConfigurationFile>
 </plugin>
@@ -1536,7 +1536,7 @@
       <frame>sensor</frame>
       <measure_direction>child_to_parent</measure_direction>
     </force_torque>
-    <origin rpy="3.141592646862139 -3.10468332187885e-08 -1.5707962571980942" xyz="-0.004350133156978318 3.632573233602887e-07 -0.05430003872406172"/>
+    <origin rpy="3.141592646862139 -3.104683320142575e-08 -1.5707962571980942" xyz="-0.004350133156978329 3.632573233880443e-07 -0.05430003872406172"/>
   </sensor>
   <gazebo reference="r_arm_ft_sensor">
     <sensor name="r_arm_ft_sensor" type="force_torque">
@@ -1546,7 +1546,7 @@
         <frame>sensor</frame>
         <measure_direction>child_to_parent</measure_direction>
       </force_torque>
-      <pose>-0.006849946385389872 2.1904996058697002e-07 -0.05429998157789099 3.141592644717707 4.094299285979593e-08 1.5707964185756365</pose>
+      <pose>-0.006849946385389875 2.1904996055921444e-07 -0.05429998157789099 3.141592644717707 4.094299285979593e-08 1.5707964185756365</pose>
       <plugin name="right_arm_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
   <yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_right_arm_ft.ini</yarpConfigurationFile>
 </plugin>
@@ -1558,7 +1558,7 @@
       <frame>sensor</frame>
       <measure_direction>child_to_parent</measure_direction>
     </force_torque>
-    <origin rpy="3.141592644717707 4.094299285979593e-08 1.5707964185756365" xyz="-0.006849946385389872 2.1904996058697002e-07 -0.05429998157789099"/>
+    <origin rpy="3.141592644717707 4.094299285979593e-08 1.5707964185756365" xyz="-0.006849946385389875 2.1904996055921444e-07 -0.05429998157789099"/>
   </sensor>
   <gazebo reference="l_foot_front_ft_sensor">
     <sensor name="l_foot_front_ft_sensor" type="force_torque">
diff --git a/iCub/robots/iCubGenova01/model.urdf b/iCub/robots/iCubGenova01/model.urdf
index 676aece..1acd7d5 100644
--- a/iCub/robots/iCubGenova01/model.urdf
+++ b/iCub/robots/iCubGenova01/model.urdf
@@ -23,12 +23,12 @@
   </link>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -37,7 +37,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -199,7 +199,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
+    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -213,7 +213,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
+    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -241,7 +241,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
+    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -269,21 +269,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
+    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
+    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
+    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -318,14 +318,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
+    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
+    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -339,21 +339,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
+    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
+    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
+    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -374,14 +374,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
+    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
+    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -402,7 +402,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
+    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -416,7 +416,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
+    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -511,12 +511,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.033600099999999994 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.03360009999999998 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.382866"/>
       <inertia ixx="0.00120946" ixy="3.74585e-07" ixz="-5.78759e-05" iyy="0.00141439" iyz="-7.80325e-06" izz="0.000273599"/>
     </inertial>
     <visual>
-      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -525,7 +525,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -539,14 +539,14 @@
   </joint>
   <link name="r_sole"/>
   <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.003500000000000003 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
+    <origin xyz="0.003499999999999996 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_0"/>
   <joint name="r_sole_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.060476699999999994 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.06047669999999999 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_0"/>
     <dynamics damping="0.1"/>
@@ -560,14 +560,14 @@
   </joint>
   <link name="r_sole_skin_2"/>
   <joint name="r_sole_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.09320869999999999 -0.032368 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.09320869999999998 -0.032368 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_3"/>
   <joint name="r_sole_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.11158309999999998 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.11158309999999996 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_3"/>
     <dynamics damping="0.1"/>
@@ -609,112 +609,112 @@
   </joint>
   <link name="r_sole_skin_12"/>
   <joint name="r_sole_skin_12_fixed_joint" type="fixed">
-    <origin xyz="0.08286799999999998 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.08286799999999997 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_12"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_13"/>
   <joint name="r_sole_skin_13_fixed_joint" type="fixed">
-    <origin xyz="0.10124239999999998 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.10124239999999997 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_13"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_14"/>
   <joint name="r_sole_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.050136039999999986 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.05013603999999998 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_14"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_15"/>
   <joint name="r_sole_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.04611918999999999 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.046119189999999984 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_17"/>
   <joint name="r_sole_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.02968549999999999 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.029685499999999997 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_18"/>
   <joint name="r_sole_skin_18_fixed_joint" type="fixed">
-    <origin xyz="-0.0480599 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.04805990000000001 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_18"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_19"/>
   <joint name="r_sole_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.052076700000000004 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.05207670000000001 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_20"/>
   <joint name="r_sole_skin_20_fixed_joint" type="fixed">
-    <origin xyz="-0.03771920000000001 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.037719200000000015 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_21"/>
   <joint name="r_sole_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.03577849999999999 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.03577849999999998 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_21"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_22"/>
   <joint name="r_sole_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.027744799999999997 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.02774479999999999 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_22"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_24"/>
   <joint name="r_sole_skin_24_fixed_joint" type="fixed">
-    <origin xyz="-0.004987199999999997 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.004987200000000004 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_24"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_25"/>
   <joint name="r_sole_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.013387200000000002 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.013387199999999995 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_25"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_26"/>
   <joint name="r_sole_skin_26_fixed_joint" type="fixed">
-    <origin xyz="0.017404099999999992 0.0133722 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.017404099999999985 0.0133722 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_26"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_27"/>
   <joint name="r_sole_skin_27_fixed_joint" type="fixed">
-    <origin xyz="0.0030464999999999867 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.0030464999999999798 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_27"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_28"/>
   <joint name="r_sole_skin_28_fixed_joint" type="fixed">
-    <origin xyz="-0.015327899999999992 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.015327899999999998 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_28"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_29"/>
   <joint name="r_sole_skin_29_fixed_joint" type="fixed">
-    <origin xyz="-0.019344799999999995 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.019344800000000002 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_29"/>
     <dynamics damping="0.1"/>
@@ -938,12 +938,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
+      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000158626" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.000206526" iyz="1.19785e-06" izz="0.000104956"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -952,15 +952,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
-    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
+    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -989,7 +989,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
+    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -1026,12 +1026,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13344e-05" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="5.86947e-05" iyz="3.92498e-06" izz="9.68353e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1040,7 +1040,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1056,7 +1056,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -1077,7 +1077,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -1086,35 +1086,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1135,14 +1135,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -1170,7 +1170,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -1191,35 +1191,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1254,19 +1254,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="5.57722e-06" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="5.29845e-06" iyz="-1.59685e-07" izz="1.87724e-06"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1275,14 +1275,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -1312,7 +1312,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -1358,12 +1358,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
+      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000159621" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.000222574" iyz="1.20112e-06" izz="0.000120056"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1372,15 +1372,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
-    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
+    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -1409,7 +1409,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
+    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -1446,7 +1446,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13352e-05" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="5.86823e-05" iyz="3.9319e-06" izz="9.68469e-05"/>
     </inertial>
@@ -1476,7 +1476,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -1497,7 +1497,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -1506,35 +1506,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1555,7 +1555,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -1576,7 +1576,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -1611,35 +1611,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1653,7 +1653,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1674,19 +1674,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="5.56774e-06" ixy="3.08362e-08" ixz="9.42153e-07" iyy="5.28838e-06" iyz="-1.58924e-07" izz="1.87579e-06"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1695,14 +1695,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1732,7 +1732,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1748,12 +1748,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1762,7 +1762,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1778,12 +1778,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0011062999999999976 1.730000000001175e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0011062999999999906 1.7299999999997873e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.415987"/>
       <inertia ixx="0.000475741" ixy="2.89355e-07" ixz="-6.72876e-08" iyy="0.000279828" iyz="6.7417e-06" izz="0.000307828"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1792,14 +1792,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
+    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1808,12 +1808,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.00012290000000000217 -0.0002822999999999992 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012289999999999524 -0.00028229999999998534 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="3.27938e-05" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="5.69957e-05" iyz="3.32338e-08" izz="3.26449e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1822,26 +1822,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008301999999999962 7.519999999999749e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008301999999999893 7.519999999998361e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868999999999913 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868999999999982 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1850,7 +1850,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1866,7 +1866,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.051256699999999995 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.05125669999999999 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1880,12 +1880,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.0009997999999999951 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.000999800000000002 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1894,7 +1894,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1910,12 +1910,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015153099999999989 0.0009020000000000139 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.015153099999999996 0.000902 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447429734460005" ixy="-1.1322603878053663e-06" ixz="3.046651057758992e-05" iyy="0.0004478873540695352" iyz="2.5726583414130826e-06" izz="0.0003076030453774591"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1924,7 +1924,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1940,12 +1940,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011446999999999985 3.599999999992498e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0011447000000000054 3.5999999999786203e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.265122"/>
       <inertia ixx="0.000327222" ixy="-4.74606e-08" ixz="4.94571e-08" iyy="0.000248285" iyz="-4.29975e-06" izz="0.000150937"/>
     </inertial>
     <visual>
-      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1954,7 +1954,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1991,7 +1991,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.003500000000000003 0 -0.0605" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.003499999999999996 0 -0.0605" rpy="3.141592653589793 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2658,13 +2658,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2706,13 +2706,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2754,13 +2754,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2778,13 +2778,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2814,13 +2814,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2838,13 +2838,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2862,13 +2862,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -3004,24 +3004,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -3063,13 +3063,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
@@ -3087,178 +3087,178 @@
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07847939999999999 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
+      <pose>0.07847939999999998 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999999 -0.011812200000000009 -0.001214999999999966"/>
+    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999998 -0.011812200000000009 -0.001214999999999966"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012577000000000012 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.012577000000000005 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000012 -0.04040720000000002 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000005 -0.04040720000000002 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012575000000000003 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012574999999999996 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575000000000003 0.04040679999999998 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012574999999999996 0.04040679999999998 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013081000000000016 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.01308100000000001 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000016 -0.04040720000000002 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.01308100000000001 -0.04040720000000002 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013079 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.013078999999999993 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013079 0.04040679999999998 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999993 0.04040679999999998 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.042001689999999994 0.03156479999999999 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
+      <pose>0.04200169 0.03156479999999999 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.042001689999999994 0.03156479999999999 0.04913199999999998"/>
+    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.04200169 0.03156479999999999 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352114999999998 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352114999999999 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999998 0.007765700000000014 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999999 0.007765700000000014 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999998 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053784999999999986 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999998 -0.014429400000000002 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429400000000002 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.03412954999999998 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412954999999999 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999998 -0.0414999 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999999 -0.0414999 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.04378499999999999 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043785 0.017810999999999994 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999999 0.017810999999999994 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378500000000001 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.043785000000000004 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378500000000001 -0.014191800000000011 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785000000000004 -0.014191800000000011 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351379199999999 0.011314499999999963 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.043513791999999996 0.011314499999999963 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351379199999999 0.011314499999999963 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.043513791999999996 0.011314499999999963 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450335399999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.044503353999999995 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450335399999999 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503353999999995 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053133529999999984 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.05313352999999999 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133529999999984 0.017184099999999994 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313352999999999 0.017184099999999994 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
@@ -3276,25 +3276,25 @@
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915199999999996 0.04274479999999997 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.025915200000000003 0.04274479999999997 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915199999999996 0.04274479999999997 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.025915200000000003 0.04274479999999997 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999977 -0.041718700000000025 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
+      <pose>0.018459299999999984 -0.041718700000000025 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999977 -0.041718700000000025 -0.09295800000000004"/>
+    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999984 -0.041718700000000025 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
@@ -3368,45 +3368,45 @@
     <sensor name="l_upper_leg_ft_acc_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_acc_3b12" type="accelerometer">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_hip_2">
     <sensor name="l_upper_leg_ft_gyro_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_gyro_3b12" type="gyroscope">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_acc_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_acc_3b13" type="accelerometer">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_gyro_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_gyro_3b13" type="gyroscope">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
   </sensor>
   <gazebo>
     <pose>0.0 0.0 0.63 0.0 0.0 3.14</pose>
diff --git a/iCub/robots/iCubGenova02/model.urdf b/iCub/robots/iCubGenova02/model.urdf
index 188d3d3..612b79d 100644
--- a/iCub/robots/iCubGenova02/model.urdf
+++ b/iCub/robots/iCubGenova02/model.urdf
@@ -247,12 +247,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
+      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000158626" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.000206526" iyz="1.19785e-06" izz="0.000104956"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -261,15 +261,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
-    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
+    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -298,7 +298,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
+    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -335,12 +335,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13344e-05" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="5.86947e-05" iyz="3.92498e-06" izz="9.68353e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -349,7 +349,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -365,7 +365,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -386,7 +386,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -395,35 +395,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -444,14 +444,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -479,7 +479,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -500,35 +500,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -542,7 +542,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -563,19 +563,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="5.57722e-06" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="5.29845e-06" iyz="-1.59685e-07" izz="1.87724e-06"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -584,14 +584,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -621,7 +621,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -667,12 +667,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
+      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000159621" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.000222574" iyz="1.20112e-06" izz="0.000120056"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -681,15 +681,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
-    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
+    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -718,7 +718,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
+    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -755,7 +755,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13352e-05" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="5.86823e-05" iyz="3.9319e-06" izz="9.68469e-05"/>
     </inertial>
@@ -785,7 +785,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -806,7 +806,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -815,35 +815,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -864,7 +864,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -885,7 +885,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -920,35 +920,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -962,7 +962,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -983,19 +983,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="5.56774e-06" ixy="3.08362e-08" ixz="9.42153e-07" iyy="5.28838e-06" iyz="-1.58924e-07" izz="1.87579e-06"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1004,14 +1004,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1041,7 +1041,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1057,12 +1057,12 @@
   </joint>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1071,7 +1071,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.058310299999999995 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
+    <origin xyz="0.058310299999999995 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1247,7 +1247,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208552 0.03044339999999998 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
+    <origin xyz="0.05208552 0.03044339999999998 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -1275,7 +1275,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999999 -0.03117600000000001 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
+    <origin xyz="0.05504769999999999 -0.03117600000000001 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -1303,21 +1303,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.035753400000000005 0.04106279999999999 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
+    <origin xyz="0.035753400000000005 0.04106279999999999 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.023441900000000012 0.04799079999999998 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
+    <origin xyz="0.023441900000000012 0.04799079999999998 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.02427040000000001 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
+    <origin xyz="0.02427040000000001 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -1352,14 +1352,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.047748659999999984 -0.031231999999999996 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
+    <origin xyz="0.047748659999999984 -0.031231999999999996 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322408999999999 -0.01560180000000004 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
+    <origin xyz="0.05322408999999999 -0.01560180000000004 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -1373,21 +1373,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880466999999999 -0.031263 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
+    <origin xyz="0.04880466999999999 -0.031263 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999999 -0.01591290000000002 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
+    <origin xyz="0.05660089999999999 -0.01591290000000002 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.057010599999999995 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
+    <origin xyz="0.057010599999999995 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -1408,14 +1408,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641629999999995 0.01763889999999997 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
+    <origin xyz="0.052641629999999995 0.01763889999999997 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113137 0.032438499999999953 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
+    <origin xyz="0.04113137 0.032438499999999953 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -1436,7 +1436,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998319999999995 0.0012663999999999592 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
+    <origin xyz="0.052998319999999995 0.0012663999999999592 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -1450,7 +1450,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127079999999986 -0.030749000000000026 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
+    <origin xyz="0.045127079999999986 -0.030749000000000026 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -1485,12 +1485,12 @@
   </joint>
   <link name="r_ankle_1">
     <inertial>
-      <origin xyz="0.015143405473968807 -0.0008685000000000082 4.2859082720503316e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.015143405473968821 -0.0008685000000000082 4.2859082720503316e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.6803"/>
       <inertia ixx="0.0004046207392315529" ixy="8.523488844593136e-06" ixz="-2.8913590319053794e-05" iyy="0.0004379396781535379" iyz="3.7330395179426065e-05" izz="0.00031892819418424145"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272424511755 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424511754 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1499,7 +1499,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272424511755 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424511754 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1515,12 +1515,12 @@
   </joint>
   <link name="r_ankle_2">
     <inertial>
-      <origin xyz="0.0011452157753235048 -8.299999999988872e-06 -0.038511854107377785" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.0011452157753235187 -8.299999999988872e-06 -0.038511854107377785" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.265337"/>
       <inertia ixx="0.000327646" ixy="-7.94989e-08" ixz="8.24551e-09" iyy="0.000244632" iyz="2.0701e-05" izz="0.000155777"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272442308745 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442308744 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1529,7 +1529,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272442308745 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442308744 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1537,7 +1537,7 @@
   </link>
   <joint name="r_ankle_roll" type="revolute">
     <origin xyz="0 0 0" rpy="0 0 0"/>
-    <axis xyz="-1.0000001561184808 -6.013654019199066e-16 1.197939497389039e-07"/>
+    <axis xyz="-1.0000001561184808 -6.013654019199066e-16 1.1979394973216095e-07"/>
     <parent link="r_ankle_1"/>
     <child link="r_ankle_2"/>
     <limit effort="37.0" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="7.64"/>
@@ -1545,12 +1545,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.039779742643594365 0.004553699994905444 -0.006311816589999797" rpy="-1.832595507822573 0 -1.5707963267948983"/>
+      <origin xyz="0.039779742643594365 0.004553699994905444 -0.006311816589999797" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
       <mass value="0.357881"/>
       <inertia ixx="0.00109611" ixy="-2.9193e-07" ixz="-3.70109e-05" iyy="0.00125706" iyz="5.10952e-06" izz="0.000215359"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.832595507822573 0 -1.5707963267948983"/>
+      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1559,14 +1559,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.832595507822573 0 -1.5707963267948983"/>
+      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.0034999280659716164 0 -0.060500343280208146" rpy="3.141592652417863 0 0"/>
+    <origin xyz="-0.0034999280659716026 0 -0.060500343280208146" rpy="3.141592652417863 0 0"/>
     <parent link="r_ankle_2"/>
     <child link="r_foot"/>
     <dynamics damping="0.1"/>
@@ -1580,12 +1580,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1594,7 +1594,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1610,12 +1610,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0015761999999999998 -1.939999999998887e-05 -0.04405299999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0015761999999999929 -1.940000000000275e-05 -0.04405299999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.421106"/>
       <inertia ixx="0.000494284" ixy="1.5483e-07" ixz="-1.86308e-07" iyy="0.000288736" iyz="1.52962e-05" izz="0.000319008"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1624,14 +1624,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
+    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1640,12 +1640,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.0001229999999999981 -0.000282300000000027 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012299999999999117 -0.0002823000000000131 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="3.27938e-05" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="5.69957e-05" iyz="3.32338e-08" izz="3.26449e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370899980932098 0.07010000000001013 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.043708999809320984 0.07010000000001014 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1654,26 +1654,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370899980932098 0.07010000000001013 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.043708999809320984 0.07010000000001014 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008575000000000041 0 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008574999999999972 0 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868000000000023 0.00010179999999999911 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868000000000092 0.00010179999999999911 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370899980932098 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043708999809320984 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1682,7 +1682,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370899980932098 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043708999809320984 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1698,7 +1698,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.05125669999999998 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.051256699999999975 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1712,12 +1712,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.0009997000000000061 0.0034968999999999834 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.000999700000000013 0.0034968999999999834 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370899980931698 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980931699 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1726,7 +1726,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370899980931698 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980931699 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1742,12 +1742,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015152971856010333 0.0009021000000000029 4.2316556559285345e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.015152971856010347 0.0009021000000000029 4.2316556559285345e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447618553062084" ixy="-8.97867775831874e-06" ixz="2.9134846047326194e-05" iyy="0.00043720150287133953" iyz="3.730206268073148e-05" izz="0.00031828795462876227"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272424516864 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424516862 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1756,7 +1756,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272424516864 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424516862 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1772,12 +1772,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011452157753235326 -8.299999999974994e-06 -0.038511854107377674" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.0011452157753235465 -8.299999999974994e-06 -0.038511854107377674" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.265337"/>
       <inertia ixx="0.000327646" ixy="-7.94989e-08" ixz="8.24551e-09" iyy="0.000244632" iyz="2.0701e-05" izz="0.000155777"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272442313178 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442313177 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1786,7 +1786,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272442313178 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442313177 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1794,7 +1794,7 @@
   </link>
   <joint name="l_ankle_roll" type="revolute">
     <origin xyz="0 0 0" rpy="0 0 0"/>
-    <axis xyz="1.0000001561184808 6.013654019199066e-16 -1.197939497389039e-07"/>
+    <axis xyz="1.0000001561184808 6.013654019199066e-16 -1.1979394973216095e-07"/>
     <parent link="l_ankle_1"/>
     <child link="l_ankle_2"/>
     <limit effort="37.0" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="7.64"/>
@@ -1823,7 +1823,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.0034999280659716164 0 -0.060500343280208146" rpy="-3.141592643239301 0 0"/>
+    <origin xyz="-0.0034999280659716026 0 -0.060500343280208146" rpy="-3.141592643239301 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2315,13 +2315,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2363,13 +2363,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2411,13 +2411,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2435,13 +2435,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2471,13 +2471,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2495,13 +2495,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2519,13 +2519,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -2661,24 +2661,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351373 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04351373 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351373 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351373 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.044503292 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.044503292 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.044503292 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503292 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -2696,13 +2696,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0537517 0.01572289999999999 -0.0043179999999999885 -1.5707962918786202 -1.5706802104434698 -1.221730721500941</pose>
+      <pose>0.0537517 0.01572289999999999 -0.0043179999999999885 -1.5707962918765586 -1.5706802104434696 -1.2217307215014315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707962918786202 -1.5706802104434698 -1.221730721500941" xyz="0.0537517 0.01572289999999999 -0.0043179999999999885"/>
+    <origin rpy="-1.5707962918765586 -1.5706802104434696 -1.2217307215014315" xyz="0.0537517 0.01572289999999999 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b10" type="imu">
@@ -2720,238 +2720,238 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.01648010000000001 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.01648010000000001 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.01648010000000001 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.01648010000000001 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.11154352975660221 -0.00081220000825033 -0.022848096181402044 -0.26179918102765654 7.344347216498023e-08 -1.570796052699907</pose>
+      <pose>0.11154352975660221 -0.00081220000825033 -0.022848096181402044 -0.2617991810276566 7.344347213722464e-08 -1.5707960526999072</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b12" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="-0.26179918102765654 7.344347216498023e-08 -1.570796052699907" xyz="0.11154352975660221 -0.00081220000825033 -0.022848096181402044"/>
+    <origin rpy="-0.2617991810276566 7.344347213722464e-08 -1.5707960526999072" xyz="0.11154352975660221 -0.00081220000825033 -0.022848096181402044"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.08739538274799673 -0.011812200008250326 -0.016377625097255266 -0.26179918102766664 1.6098233857064772e-15 -1.5707963267948981</pose>
+      <pose>0.08739538274799673 -0.011812200008250326 -0.016377625097255266 -0.26179918102766675 1.5543122344752188e-15 -1.5707963267948986</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="-0.26179918102766664 1.6098233857064772e-15 -1.5707963267948981" xyz="0.08739538274799673 -0.011812200008250326 -0.016377625097255266"/>
+    <origin rpy="-0.26179918102766675 1.5543122344752188e-15 -1.5707963267948986" xyz="0.08739538274799673 -0.011812200008250326 -0.016377625097255266"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.0125771 -0.040407200000000004 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.012577099999999994 -0.040407200000000004 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.0125771 -0.040407200000000004 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577099999999994 -0.040407200000000004 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012575099999999992 0.040407 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012575099999999985 0.040407 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575099999999992 0.040407 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575099999999985 0.040407 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013081000000000002 -0.040407200000000004 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.013080999999999995 -0.040407200000000004 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000002 -0.040407200000000004 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013080999999999995 -0.040407200000000004 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013078999999999986 0.040407 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.01307899999999998 0.040407 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999986 0.040407 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.01307899999999998 0.040407 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04200163 0.03156500000000001 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
+      <pose>0.042001630000000005 0.03156500000000001 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.04200163 0.03156500000000001 0.04913199999999998"/>
+    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.042001630000000005 0.03156500000000001 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352108999999999 0.007765700000000028 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352109 0.007765700000000028 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352108999999999 0.007765700000000028 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352109 0.007765700000000028 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053785 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053785 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 -0.014429399999999995 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999999 -0.014429399999999995 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429399999999995 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 -0.014429399999999995 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.034129489999999985 -0.041499899999999985 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412948999999999 -0.041499899999999985 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.034129489999999985 -0.041499899999999985 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412948999999999 -0.041499899999999985 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043784999999999984 0.01781110000000001 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.04378499999999998 0.01781110000000001 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043784999999999984 0.01781110000000001 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999998 0.01781110000000001 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785 -0.014191799999999997 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.04378499999999999 -0.014191799999999997 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785 -0.014191799999999997 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378499999999999 -0.014191799999999997 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.043513729999999994 0.011314599999999966 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04351373 0.011314599999999966 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.043513729999999994 0.011314599999999966 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351373 0.011314599999999966 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450329199999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.044503292 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450329199999999 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503292 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053133469999999995 0.017184100000000008 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.05313347 0.017184100000000008 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133469999999995 0.017184100000000008 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313347 0.017184100000000008 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05445179999999999 -0.013799100000000002 -0.0043179999999999885 -1.5707963664504991 -1.5706802104435666 -1.919861927351539</pose>
+      <pose>0.054451799999999995 -0.013799100000000002 -0.0043179999999999885 -1.5707963664504991 -1.5706802104435666 -1.919861927351539</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b9" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707963664504991 -1.5706802104435666 -1.919861927351539" xyz="0.05445179999999999 -0.013799100000000002 -0.0043179999999999885"/>
+    <origin rpy="-1.5707963664504991 -1.5706802104435666 -1.919861927351539" xyz="0.054451799999999995 -0.013799100000000002 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915100000000003 0.042743999999999976 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.02591510000000001 0.042743999999999976 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915100000000003 0.042743999999999976 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.02591510000000001 0.042743999999999976 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999988 -0.04171870000000001 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
+      <pose>0.018459299999999994 -0.04171870000000001 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999988 -0.04171870000000001 -0.09295800000000004"/>
+    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999994 -0.04171870000000001 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
diff --git a/iCub/robots/iCubGenova04/model.urdf b/iCub/robots/iCubGenova04/model.urdf
index de1a7ce..bcb3414 100644
--- a/iCub/robots/iCubGenova04/model.urdf
+++ b/iCub/robots/iCubGenova04/model.urdf
@@ -23,12 +23,12 @@
   </link>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -37,7 +37,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -199,7 +199,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
+    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -213,7 +213,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
+    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -241,7 +241,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
+    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -269,21 +269,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
+    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
+    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
+    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -318,14 +318,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
+    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
+    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -339,21 +339,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
+    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
+    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
+    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -374,14 +374,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
+    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
+    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -402,7 +402,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
+    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -416,7 +416,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
+    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -511,12 +511,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.033600099999999994 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.03360009999999998 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.382866"/>
       <inertia ixx="0.00120946" ixy="3.74585e-07" ixz="-5.78759e-05" iyy="0.00141439" iyz="-7.80325e-06" izz="0.000273599"/>
     </inertial>
     <visual>
-      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -525,7 +525,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -539,14 +539,14 @@
   </joint>
   <link name="r_sole"/>
   <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.003500000000000003 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
+    <origin xyz="0.003499999999999996 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_0"/>
   <joint name="r_sole_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.060476699999999994 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.06047669999999999 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_0"/>
     <dynamics damping="0.1"/>
@@ -560,14 +560,14 @@
   </joint>
   <link name="r_sole_skin_2"/>
   <joint name="r_sole_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.09320869999999999 -0.032368 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.09320869999999998 -0.032368 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_3"/>
   <joint name="r_sole_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.11158309999999998 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.11158309999999996 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_3"/>
     <dynamics damping="0.1"/>
@@ -609,112 +609,112 @@
   </joint>
   <link name="r_sole_skin_12"/>
   <joint name="r_sole_skin_12_fixed_joint" type="fixed">
-    <origin xyz="0.08286799999999998 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.08286799999999997 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_12"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_13"/>
   <joint name="r_sole_skin_13_fixed_joint" type="fixed">
-    <origin xyz="0.10124239999999998 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.10124239999999997 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_13"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_14"/>
   <joint name="r_sole_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.050136039999999986 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.05013603999999998 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_14"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_15"/>
   <joint name="r_sole_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.04611918999999999 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.046119189999999984 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_17"/>
   <joint name="r_sole_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.02968549999999999 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.029685499999999997 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_18"/>
   <joint name="r_sole_skin_18_fixed_joint" type="fixed">
-    <origin xyz="-0.0480599 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.04805990000000001 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_18"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_19"/>
   <joint name="r_sole_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.052076700000000004 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.05207670000000001 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_20"/>
   <joint name="r_sole_skin_20_fixed_joint" type="fixed">
-    <origin xyz="-0.03771920000000001 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.037719200000000015 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_21"/>
   <joint name="r_sole_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.03577849999999999 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.03577849999999998 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_21"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_22"/>
   <joint name="r_sole_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.027744799999999997 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.02774479999999999 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_22"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_24"/>
   <joint name="r_sole_skin_24_fixed_joint" type="fixed">
-    <origin xyz="-0.004987199999999997 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.004987200000000004 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_24"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_25"/>
   <joint name="r_sole_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.013387200000000002 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.013387199999999995 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_25"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_26"/>
   <joint name="r_sole_skin_26_fixed_joint" type="fixed">
-    <origin xyz="0.017404099999999992 0.0133722 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.017404099999999985 0.0133722 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_26"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_27"/>
   <joint name="r_sole_skin_27_fixed_joint" type="fixed">
-    <origin xyz="0.0030464999999999867 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.0030464999999999798 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_27"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_28"/>
   <joint name="r_sole_skin_28_fixed_joint" type="fixed">
-    <origin xyz="-0.015327899999999992 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.015327899999999998 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_28"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_29"/>
   <joint name="r_sole_skin_29_fixed_joint" type="fixed">
-    <origin xyz="-0.019344799999999995 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.019344800000000002 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_29"/>
     <dynamics damping="0.1"/>
@@ -938,12 +938,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
+      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000158626" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.000206526" iyz="1.19785e-06" izz="0.000104956"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -952,15 +952,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
-    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
+    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -989,7 +989,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
+    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -1026,12 +1026,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13344e-05" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="5.86947e-05" iyz="3.92498e-06" izz="9.68353e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1040,7 +1040,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1056,7 +1056,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -1077,7 +1077,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -1086,35 +1086,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1135,14 +1135,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -1170,7 +1170,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -1191,35 +1191,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1254,19 +1254,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="5.57722e-06" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="5.29845e-06" iyz="-1.59685e-07" izz="1.87724e-06"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1275,14 +1275,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -1312,7 +1312,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -1358,12 +1358,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
+      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000159621" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.000222574" iyz="1.20112e-06" izz="0.000120056"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1372,15 +1372,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
-    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
+    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -1409,7 +1409,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
+    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -1446,7 +1446,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13352e-05" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="5.86823e-05" iyz="3.9319e-06" izz="9.68469e-05"/>
     </inertial>
@@ -1476,7 +1476,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -1497,7 +1497,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -1506,35 +1506,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1555,7 +1555,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -1576,7 +1576,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -1611,35 +1611,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1653,7 +1653,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1674,19 +1674,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="5.56774e-06" ixy="3.08362e-08" ixz="9.42153e-07" iyy="5.28838e-06" iyz="-1.58924e-07" izz="1.87579e-06"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1695,14 +1695,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1732,7 +1732,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1748,12 +1748,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1762,7 +1762,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1778,12 +1778,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0011062999999999976 1.730000000001175e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0011062999999999906 1.7299999999997873e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.415987"/>
       <inertia ixx="0.000475741" ixy="2.89355e-07" ixz="-6.72876e-08" iyy="0.000279828" iyz="6.7417e-06" izz="0.000307828"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1792,14 +1792,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
+    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1808,12 +1808,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.00012290000000000217 -0.0002822999999999992 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012289999999999524 -0.00028229999999998534 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="3.27938e-05" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="5.69957e-05" iyz="3.32338e-08" izz="3.26449e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1822,26 +1822,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008301999999999962 7.519999999999749e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008301999999999893 7.519999999998361e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868999999999913 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868999999999982 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1850,7 +1850,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1866,7 +1866,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.051256699999999995 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.05125669999999999 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1880,12 +1880,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.0009997999999999951 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.000999800000000002 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1894,7 +1894,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1910,12 +1910,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015153099999999989 0.0009020000000000139 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.015153099999999996 0.000902 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447429734460005" ixy="-1.1322603878053663e-06" ixz="3.046651057758992e-05" iyy="0.0004478873540695352" iyz="2.5726583414130826e-06" izz="0.0003076030453774591"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1924,7 +1924,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1940,12 +1940,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011446999999999985 3.599999999992498e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0011447000000000054 3.5999999999786203e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.265122"/>
       <inertia ixx="0.000327222" ixy="-4.74606e-08" ixz="4.94571e-08" iyy="0.000248285" iyz="-4.29975e-06" izz="0.000150937"/>
     </inertial>
     <visual>
-      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1954,7 +1954,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1991,7 +1991,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.003500000000000003 0 -0.0605" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.003499999999999996 0 -0.0605" rpy="3.141592653589793 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2658,13 +2658,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2706,13 +2706,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2754,13 +2754,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2778,13 +2778,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2814,13 +2814,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2838,13 +2838,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2862,13 +2862,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -3004,24 +3004,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -3063,13 +3063,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
@@ -3087,178 +3087,178 @@
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07847939999999999 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
+      <pose>0.07847939999999998 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999999 -0.011812200000000009 -0.001214999999999966"/>
+    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999998 -0.011812200000000009 -0.001214999999999966"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012577000000000012 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.012577000000000005 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000012 -0.04040720000000002 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000005 -0.04040720000000002 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012575000000000003 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012574999999999996 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575000000000003 0.04040679999999998 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012574999999999996 0.04040679999999998 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013081000000000016 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.01308100000000001 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000016 -0.04040720000000002 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.01308100000000001 -0.04040720000000002 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013079 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.013078999999999993 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013079 0.04040679999999998 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999993 0.04040679999999998 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.042001689999999994 0.03156479999999999 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
+      <pose>0.04200169 0.03156479999999999 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.042001689999999994 0.03156479999999999 0.04913199999999998"/>
+    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.04200169 0.03156479999999999 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352114999999998 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352114999999999 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999998 0.007765700000000014 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999999 0.007765700000000014 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999998 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053784999999999986 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999998 -0.014429400000000002 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429400000000002 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.03412954999999998 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412954999999999 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999998 -0.0414999 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999999 -0.0414999 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.04378499999999999 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043785 0.017810999999999994 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999999 0.017810999999999994 -0.02641099999999999"/>
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   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378500000000001 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.043785000000000004 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378500000000001 -0.014191800000000011 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785000000000004 -0.014191800000000011 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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+      <pose>0.043513791999999996 0.011314499999999963 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
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+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.043513791999999996 0.011314499999999963 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450335399999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
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     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
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+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503353999999995 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053133529999999984 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.05313352999999999 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133529999999984 0.017184099999999994 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313352999999999 0.017184099999999994 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
@@ -3276,25 +3276,25 @@
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915199999999996 0.04274479999999997 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.025915200000000003 0.04274479999999997 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915199999999996 0.04274479999999997 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.025915200000000003 0.04274479999999997 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999977 -0.041718700000000025 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
+      <pose>0.018459299999999984 -0.041718700000000025 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999977 -0.041718700000000025 -0.09295800000000004"/>
+    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999984 -0.041718700000000025 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
@@ -3368,45 +3368,45 @@
     <sensor name="l_upper_leg_ft_acc_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_acc_3b12" type="accelerometer">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_hip_2">
     <sensor name="l_upper_leg_ft_gyro_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_gyro_3b12" type="gyroscope">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_acc_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_acc_3b13" type="accelerometer">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_gyro_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_gyro_3b13" type="gyroscope">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
   </sensor>
   <gazebo>
     <pose>0.0 0.0 0.63 0.0 0.0 3.14</pose>
diff --git a/iCub/robots/iCubGenova04_plus/model.urdf b/iCub/robots/iCubGenova04_plus/model.urdf
index 188d3d3..612b79d 100644
--- a/iCub/robots/iCubGenova04_plus/model.urdf
+++ b/iCub/robots/iCubGenova04_plus/model.urdf
@@ -247,12 +247,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
+      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000158626" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.000206526" iyz="1.19785e-06" izz="0.000104956"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -261,15 +261,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
-    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
+    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -298,7 +298,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
+    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -335,12 +335,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13344e-05" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="5.86947e-05" iyz="3.92498e-06" izz="9.68353e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -349,7 +349,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -365,7 +365,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -386,7 +386,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -395,35 +395,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -444,14 +444,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -479,7 +479,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -500,35 +500,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -542,7 +542,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -563,19 +563,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="5.57722e-06" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="5.29845e-06" iyz="-1.59685e-07" izz="1.87724e-06"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -584,14 +584,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -621,7 +621,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -667,12 +667,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
+      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000159621" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.000222574" iyz="1.20112e-06" izz="0.000120056"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -681,15 +681,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
-    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
+    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -718,7 +718,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
+    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -755,7 +755,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13352e-05" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="5.86823e-05" iyz="3.9319e-06" izz="9.68469e-05"/>
     </inertial>
@@ -785,7 +785,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -806,7 +806,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -815,35 +815,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -864,7 +864,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -885,7 +885,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -920,35 +920,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -962,7 +962,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -983,19 +983,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="5.56774e-06" ixy="3.08362e-08" ixz="9.42153e-07" iyy="5.28838e-06" iyz="-1.58924e-07" izz="1.87579e-06"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1004,14 +1004,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1041,7 +1041,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1057,12 +1057,12 @@
   </joint>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1071,7 +1071,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.058310299999999995 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
+    <origin xyz="0.058310299999999995 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1247,7 +1247,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208552 0.03044339999999998 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
+    <origin xyz="0.05208552 0.03044339999999998 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -1275,7 +1275,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999999 -0.03117600000000001 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
+    <origin xyz="0.05504769999999999 -0.03117600000000001 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -1303,21 +1303,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.035753400000000005 0.04106279999999999 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
+    <origin xyz="0.035753400000000005 0.04106279999999999 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.023441900000000012 0.04799079999999998 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
+    <origin xyz="0.023441900000000012 0.04799079999999998 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.02427040000000001 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
+    <origin xyz="0.02427040000000001 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -1352,14 +1352,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.047748659999999984 -0.031231999999999996 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
+    <origin xyz="0.047748659999999984 -0.031231999999999996 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322408999999999 -0.01560180000000004 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
+    <origin xyz="0.05322408999999999 -0.01560180000000004 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -1373,21 +1373,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880466999999999 -0.031263 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
+    <origin xyz="0.04880466999999999 -0.031263 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999999 -0.01591290000000002 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
+    <origin xyz="0.05660089999999999 -0.01591290000000002 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.057010599999999995 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
+    <origin xyz="0.057010599999999995 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -1408,14 +1408,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641629999999995 0.01763889999999997 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
+    <origin xyz="0.052641629999999995 0.01763889999999997 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113137 0.032438499999999953 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
+    <origin xyz="0.04113137 0.032438499999999953 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -1436,7 +1436,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998319999999995 0.0012663999999999592 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
+    <origin xyz="0.052998319999999995 0.0012663999999999592 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -1450,7 +1450,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127079999999986 -0.030749000000000026 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
+    <origin xyz="0.045127079999999986 -0.030749000000000026 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -1485,12 +1485,12 @@
   </joint>
   <link name="r_ankle_1">
     <inertial>
-      <origin xyz="0.015143405473968807 -0.0008685000000000082 4.2859082720503316e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.015143405473968821 -0.0008685000000000082 4.2859082720503316e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.6803"/>
       <inertia ixx="0.0004046207392315529" ixy="8.523488844593136e-06" ixz="-2.8913590319053794e-05" iyy="0.0004379396781535379" iyz="3.7330395179426065e-05" izz="0.00031892819418424145"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272424511755 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424511754 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1499,7 +1499,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272424511755 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424511754 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1515,12 +1515,12 @@
   </joint>
   <link name="r_ankle_2">
     <inertial>
-      <origin xyz="0.0011452157753235048 -8.299999999988872e-06 -0.038511854107377785" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.0011452157753235187 -8.299999999988872e-06 -0.038511854107377785" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.265337"/>
       <inertia ixx="0.000327646" ixy="-7.94989e-08" ixz="8.24551e-09" iyy="0.000244632" iyz="2.0701e-05" izz="0.000155777"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272442308745 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442308744 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1529,7 +1529,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272442308745 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442308744 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1537,7 +1537,7 @@
   </link>
   <joint name="r_ankle_roll" type="revolute">
     <origin xyz="0 0 0" rpy="0 0 0"/>
-    <axis xyz="-1.0000001561184808 -6.013654019199066e-16 1.197939497389039e-07"/>
+    <axis xyz="-1.0000001561184808 -6.013654019199066e-16 1.1979394973216095e-07"/>
     <parent link="r_ankle_1"/>
     <child link="r_ankle_2"/>
     <limit effort="37.0" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="7.64"/>
@@ -1545,12 +1545,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.039779742643594365 0.004553699994905444 -0.006311816589999797" rpy="-1.832595507822573 0 -1.5707963267948983"/>
+      <origin xyz="0.039779742643594365 0.004553699994905444 -0.006311816589999797" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
       <mass value="0.357881"/>
       <inertia ixx="0.00109611" ixy="-2.9193e-07" ixz="-3.70109e-05" iyy="0.00125706" iyz="5.10952e-06" izz="0.000215359"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.832595507822573 0 -1.5707963267948983"/>
+      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1559,14 +1559,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.832595507822573 0 -1.5707963267948983"/>
+      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.0034999280659716164 0 -0.060500343280208146" rpy="3.141592652417863 0 0"/>
+    <origin xyz="-0.0034999280659716026 0 -0.060500343280208146" rpy="3.141592652417863 0 0"/>
     <parent link="r_ankle_2"/>
     <child link="r_foot"/>
     <dynamics damping="0.1"/>
@@ -1580,12 +1580,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1594,7 +1594,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1610,12 +1610,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0015761999999999998 -1.939999999998887e-05 -0.04405299999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0015761999999999929 -1.940000000000275e-05 -0.04405299999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.421106"/>
       <inertia ixx="0.000494284" ixy="1.5483e-07" ixz="-1.86308e-07" iyy="0.000288736" iyz="1.52962e-05" izz="0.000319008"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1624,14 +1624,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
+    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1640,12 +1640,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.0001229999999999981 -0.000282300000000027 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012299999999999117 -0.0002823000000000131 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="3.27938e-05" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="5.69957e-05" iyz="3.32338e-08" izz="3.26449e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370899980932098 0.07010000000001013 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.043708999809320984 0.07010000000001014 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1654,26 +1654,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370899980932098 0.07010000000001013 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.043708999809320984 0.07010000000001014 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008575000000000041 0 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008574999999999972 0 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868000000000023 0.00010179999999999911 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868000000000092 0.00010179999999999911 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370899980932098 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043708999809320984 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1682,7 +1682,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370899980932098 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043708999809320984 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1698,7 +1698,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.05125669999999998 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.051256699999999975 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1712,12 +1712,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.0009997000000000061 0.0034968999999999834 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.000999700000000013 0.0034968999999999834 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370899980931698 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980931699 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1726,7 +1726,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370899980931698 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980931699 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1742,12 +1742,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015152971856010333 0.0009021000000000029 4.2316556559285345e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.015152971856010347 0.0009021000000000029 4.2316556559285345e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447618553062084" ixy="-8.97867775831874e-06" ixz="2.9134846047326194e-05" iyy="0.00043720150287133953" iyz="3.730206268073148e-05" izz="0.00031828795462876227"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272424516864 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424516862 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1756,7 +1756,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272424516864 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424516862 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1772,12 +1772,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011452157753235326 -8.299999999974994e-06 -0.038511854107377674" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.0011452157753235465 -8.299999999974994e-06 -0.038511854107377674" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.265337"/>
       <inertia ixx="0.000327646" ixy="-7.94989e-08" ixz="8.24551e-09" iyy="0.000244632" iyz="2.0701e-05" izz="0.000155777"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272442313178 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442313177 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1786,7 +1786,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272442313178 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442313177 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1794,7 +1794,7 @@
   </link>
   <joint name="l_ankle_roll" type="revolute">
     <origin xyz="0 0 0" rpy="0 0 0"/>
-    <axis xyz="1.0000001561184808 6.013654019199066e-16 -1.197939497389039e-07"/>
+    <axis xyz="1.0000001561184808 6.013654019199066e-16 -1.1979394973216095e-07"/>
     <parent link="l_ankle_1"/>
     <child link="l_ankle_2"/>
     <limit effort="37.0" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="7.64"/>
@@ -1823,7 +1823,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.0034999280659716164 0 -0.060500343280208146" rpy="-3.141592643239301 0 0"/>
+    <origin xyz="-0.0034999280659716026 0 -0.060500343280208146" rpy="-3.141592643239301 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2315,13 +2315,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2363,13 +2363,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2411,13 +2411,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2435,13 +2435,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2471,13 +2471,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2495,13 +2495,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2519,13 +2519,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -2661,24 +2661,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351373 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04351373 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351373 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351373 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.044503292 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.044503292 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.044503292 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503292 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -2696,13 +2696,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0537517 0.01572289999999999 -0.0043179999999999885 -1.5707962918786202 -1.5706802104434698 -1.221730721500941</pose>
+      <pose>0.0537517 0.01572289999999999 -0.0043179999999999885 -1.5707962918765586 -1.5706802104434696 -1.2217307215014315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707962918786202 -1.5706802104434698 -1.221730721500941" xyz="0.0537517 0.01572289999999999 -0.0043179999999999885"/>
+    <origin rpy="-1.5707962918765586 -1.5706802104434696 -1.2217307215014315" xyz="0.0537517 0.01572289999999999 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b10" type="imu">
@@ -2720,238 +2720,238 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.01648010000000001 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.01648010000000001 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.01648010000000001 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.01648010000000001 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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+      <pose>0.11154352975660221 -0.00081220000825033 -0.022848096181402044 -0.2617991810276566 7.344347213722464e-08 -1.5707960526999072</pose>
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   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
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   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
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   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.0125771 -0.040407200000000004 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.0125771 -0.040407200000000004 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577099999999994 -0.040407200000000004 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012575099999999992 0.040407 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012575099999999985 0.040407 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575099999999992 0.040407 -0.040226999999999985"/>
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   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013081000000000002 -0.040407200000000004 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.013080999999999995 -0.040407200000000004 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000002 -0.040407200000000004 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013080999999999995 -0.040407200000000004 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013078999999999986 0.040407 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.01307899999999998 0.040407 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999986 0.040407 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.01307899999999998 0.040407 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04200163 0.03156500000000001 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
+      <pose>0.042001630000000005 0.03156500000000001 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.04200163 0.03156500000000001 0.04913199999999998"/>
+    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.042001630000000005 0.03156500000000001 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352108999999999 0.007765700000000028 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352109 0.007765700000000028 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352108999999999 0.007765700000000028 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352109 0.007765700000000028 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053785 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053785 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 -0.014429399999999995 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999999 -0.014429399999999995 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429399999999995 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 -0.014429399999999995 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.034129489999999985 -0.041499899999999985 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412948999999999 -0.041499899999999985 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.034129489999999985 -0.041499899999999985 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412948999999999 -0.041499899999999985 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043784999999999984 0.01781110000000001 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.04378499999999998 0.01781110000000001 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043784999999999984 0.01781110000000001 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999998 0.01781110000000001 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785 -0.014191799999999997 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.04378499999999999 -0.014191799999999997 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785 -0.014191799999999997 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378499999999999 -0.014191799999999997 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.043513729999999994 0.011314599999999966 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04351373 0.011314599999999966 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.043513729999999994 0.011314599999999966 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351373 0.011314599999999966 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450329199999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.044503292 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450329199999999 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503292 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053133469999999995 0.017184100000000008 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.05313347 0.017184100000000008 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133469999999995 0.017184100000000008 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313347 0.017184100000000008 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05445179999999999 -0.013799100000000002 -0.0043179999999999885 -1.5707963664504991 -1.5706802104435666 -1.919861927351539</pose>
+      <pose>0.054451799999999995 -0.013799100000000002 -0.0043179999999999885 -1.5707963664504991 -1.5706802104435666 -1.919861927351539</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b9" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707963664504991 -1.5706802104435666 -1.919861927351539" xyz="0.05445179999999999 -0.013799100000000002 -0.0043179999999999885"/>
+    <origin rpy="-1.5707963664504991 -1.5706802104435666 -1.919861927351539" xyz="0.054451799999999995 -0.013799100000000002 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915100000000003 0.042743999999999976 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.02591510000000001 0.042743999999999976 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915100000000003 0.042743999999999976 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.02591510000000001 0.042743999999999976 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999988 -0.04171870000000001 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
+      <pose>0.018459299999999994 -0.04171870000000001 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999988 -0.04171870000000001 -0.09295800000000004"/>
+    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999994 -0.04171870000000001 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
diff --git a/iCub/robots/iCubGenova09/model.urdf b/iCub/robots/iCubGenova09/model.urdf
index 7ec30d6..8667dd1 100644
--- a/iCub/robots/iCubGenova09/model.urdf
+++ b/iCub/robots/iCubGenova09/model.urdf
@@ -398,12 +398,12 @@
   </joint>
   <link name="l_shoulder_1">
     <inertial>
-      <origin xyz="0.0002918276617865645 0.05723090680782866 0.0005026028232598678" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
+      <origin xyz="0.0002918276617865645 0.05723090680782866 0.0005026028232598713" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
       <mass value="1.45562"/>
       <inertia ixx="0.00109517" ixy="0.000611891" ixz="0.000565594" iyy="0.00306956" iyz="-0.000159546" izz="0.00307951"/>
     </inertial>
     <visual>
-      <origin xyz="0.030411223823216205 -0.02914047750374663 0.019095766539677893" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
+      <origin xyz="0.030411223823216205 -0.02914047750374663 0.019095766539677896" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_1_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -412,7 +412,7 @@
       </material>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_1_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -420,7 +420,7 @@
   </link>
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     <origin xyz="-0.020835100000000002 0.0397423 0.1052029" rpy="0.25326162380993705 -1.1977334179319483e-07 -0.26179930184968747"/>
-    <axis xyz="3.323079797554136e-07 0.9999999783534342 1.4452224303420037e-07"/>
+    <axis xyz="3.323079797673039e-07 0.9999999783534342 1.4452224303407313e-07"/>
     <parent link="chest"/>
     <child link="l_shoulder_1"/>
     <limit effort="50000" lower="-1.53588974175501" upper="0.22689280275926285" velocity="120.0"/>
@@ -428,12 +428,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.003293362025486902 0.0002563804707528261 -0.027865685757097337" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="0.0032933620254868984 0.0002563804707528261 -0.027865685757097337" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -442,15 +442,15 @@
       </material>
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   <joint name="l_shoulder_roll" type="revolute">
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-    <axis xyz="0.9999998262417685 2.0348252625938444e-07 -4.023022846062156e-08"/>
+    <origin xyz="0.004992849331690818 0.111499838456099 0.0002686502277366859" rpy="-0.17453296140985 -0.05374759931933852 0"/>
+    <axis xyz="0.9999998262417684 2.0348252649342313e-07 -4.0230228454118944e-08"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.20943951023931956" upper="2.792526803190927" velocity="120.0"/>
@@ -458,12 +458,12 @@
   </joint>
   <link name="l_shoulder_3">
     <inertial>
-      <origin xyz="-4.416264022005789e-06 9.587749727052453e-05 -0.007326213473011087" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="-4.41626402200232e-06 9.587749727052453e-05 -0.007326213473011087" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -472,26 +472,26 @@
       </material>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
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   <joint name="l_arm_ft_sensor" type="fixed">
-    <origin xyz="-0.004350133156978318 3.632573233602887e-07 -0.05430003872406172" rpy="0 0 0"/>
+    <origin xyz="-0.004350133156978329 3.632573233880443e-07 -0.05430003872406172" rpy="0 0 0"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_arm">
     <inertial>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -500,15 +500,15 @@
       </material>
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       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
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   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0 -4.2345248449371375e-07 -0.022499941373124423" rpy="0 0 0"/>
-    <axis xyz="2.2276474049102235e-08 -4.393786247302041e-08 -1.0000002566182309"/>
+    <origin xyz="0 -4.2345248449371375e-07 -0.02249994137312443" rpy="0 0 0"/>
+    <axis xyz="2.227647404040578e-08 -4.393786245948661e-08 -1.0000002566182309"/>
     <parent link="l_shoulder_3"/>
     <child link="l_upper_arm"/>
     <limit effort="50000" lower="-0.8726646259971648" upper="1.3962634015954636" velocity="120.0"/>
@@ -516,12 +516,12 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="-0.010241946078109288 0.0018224069895867168 -0.015089620258555453" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="-0.010241946078109292 0.0018224069895867168 -0.01508962025855548" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
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+      <origin xyz="0.02074321923375982 -0.14003141848790218 0.19324791999016772" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_elbow_1_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -530,7 +530,7 @@
       </material>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_elbow_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -538,7 +538,7 @@
   </link>
   <joint name="l_elbow" type="revolute">
     <origin xyz="0.009999930234919404 -0.001499647423428896 -0.12370033753758375" rpy="0 0 0"/>
-    <axis xyz="-8.811824174789715e-08 -1.0000002733514628 4.404736120498342e-08"/>
+    <axis xyz="-8.811824154381087e-08 -1.0000002733514628 4.4047361189014644e-08"/>
     <parent link="l_upper_arm"/>
     <child link="l_elbow_1"/>
     <limit effort="50000" lower="-0.05235987755982989" upper="1.3089969389957472" velocity="120.0"/>
@@ -546,12 +546,12 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="-0.0062698741022980675 -4.68551245806359e-05 -0.030648347755607208" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="-0.006269874102298061 -4.68551245806359e-05 -0.030648347755607153" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_forearm_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -560,15 +560,15 @@
       </material>
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       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_forearm_prt.stl" scale="0.001 0.001 0.001"/>
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   <joint name="l_wrist_prosup" type="revolute">
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-    <axis xyz="2.2276474049102235e-08 -4.393786247302041e-08 -1.0000002566182309"/>
+    <origin xyz="-0.014999870654177704 0.0019996435036348514 -0.055300063582479825" rpy="0 0 0"/>
+    <axis xyz="2.227647404040578e-08 -4.393786245948661e-08 -1.0000002566182309"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
     <limit effort="50000" lower="-1.53588974175501" upper="1.53588974175501" velocity="120.0"/>
@@ -576,12 +576,12 @@
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.014390150453737368 -0.0005083960996520864 -9.893035257668714e-05" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="-0.014390150453737368 -0.0005083960996520587 -9.893035257668714e-05" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -590,15 +590,15 @@
       </material>
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   <joint name="l_wrist_pitch" type="revolute">
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-    <axis xyz="-0.9999998262417685 -2.0348252625938444e-07 4.023022846062156e-08"/>
+    <origin xyz="0.016600015934286182 0.002006895218072541 -0.10749964114254112" rpy="0 0 0"/>
+    <axis xyz="-0.9999998262417684 -2.0348252649342313e-07 4.0230228454118944e-08"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
     <limit effort="50000" lower="-1.2217304763960306" upper="0.4363323129985824" velocity="120.0"/>
@@ -606,12 +606,12 @@
   </joint>
   <link name="l_hand">
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+      <origin xyz="0.03544319569838081 -0.13703856452803848 0.35604770325391955" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_hand_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -620,15 +620,15 @@
       </material>
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   <joint name="l_wrist_yaw" type="revolute">
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-    <axis xyz="8.811824174789715e-08 1.0000002733514628 -4.404736120498342e-08"/>
+    <origin xyz="-0.016300121744729387 -0.0069993926815711816 0" rpy="0 0 0"/>
+    <axis xyz="8.811824154381087e-08 1.0000002733514628 -4.4047361189014644e-08"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
     <limit effort="50000" lower="-0.2617993877991494" upper="0.6108652381980153" velocity="120.0"/>
@@ -658,7 +658,7 @@
   </link>
   <joint name="r_shoulder_pitch" type="revolute">
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+    <axis xyz="1.499044390054707e-07 0.9999999783534812 -1.2401537036188515e-07"/>
     <parent link="chest"/>
     <child link="r_shoulder_1"/>
     <limit effort="50000" lower="-1.53588974175501" upper="0.22689280275926285" velocity="120.0"/>
@@ -666,12 +666,12 @@
   </joint>
   <link name="r_shoulder_2">
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     <visual>
-      <origin xyz="0.02389326106684632 0.1415317167619924 -0.007252350207672714" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.023893261066846316 0.14153171676199236 -0.007252350207672715" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -680,15 +680,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.02389326106684632 0.1415317167619924 -0.007252350207672714" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.023893261066846316 0.14153171676199236 -0.007252350207672715" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="0.007489008185044645 -0.11150041046657978 0.0004027858966975245" rpy="0.17453306234069352 -0.05374779257913059 -6.132332688804098e-07"/>
-    <axis xyz="-0.9999998262417886 4.210501434612913e-08 2.4630481182686846e-08"/>
+    <origin xyz="0.007489008185044645 -0.11150041046657978 0.0004027858966975245" rpy="0.17453306234069357 -0.053747792579130614 -6.132332688812785e-07"/>
+    <axis xyz="-0.9999998262417886 4.2105014356162707e-08 2.4630481189336084e-08"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.20943951023931956" upper="2.792526803190927" velocity="120.0"/>
@@ -696,12 +696,12 @@
   </joint>
   <link name="r_shoulder_3">
     <inertial>
-      <origin xyz="-8.928496484206933e-05 -3.376971940446949e-05 -0.007594500252887257" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="-8.928496484206933e-05 -3.376971940446949e-05 -0.00759450025288725" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <mass value="0.258699"/>
       <inertia ixx="7.20362e-05" ixy="5.87638e-07" ixz="-2.8754e-06" iyy="7.22746e-05" iyz="-3.42816e-06" izz="0.000119776"/>
     </inertial>
     <visual>
-      <origin xyz="0.030743207452236198 0.1415314977120318 0.047047631370218286" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.030743207452236198 0.1415314977120318 0.04704763137021829" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -710,26 +710,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.030743207452236198 0.1415314977120318 0.047047631370218286" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.030743207452236198 0.1415314977120318 0.04704763137021829" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_arm_ft_sensor" type="fixed">
-    <origin xyz="-0.006849946385389872 2.1904996058697002e-07 -0.05429998157789099" rpy="0 0 0"/>
+    <origin xyz="-0.006849946385389875 2.1904996055921444e-07 -0.05429998157789099" rpy="0 0 0"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_upper_arm">
     <inertial>
-      <origin xyz="-4.827495476422694e-06 -0.001943485876269635 -0.04747357932833829" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="-4.8274954764261635e-06 -0.001943485876269635 -0.04747357932833829" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <mass value="2.06334"/>
       <inertia ixx="0.00382639" ixy="-5.03894e-06" ixz="0.000205684" iyy="0.00368146" iyz="0.000261155" izz="0.00167002"/>
     </inertial>
     <visual>
-      <origin xyz="0.03074312554381852 0.141531075879301 0.06954757274337188" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.030743125543818518 0.141531075879301 0.06954757274337188" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -738,15 +738,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.03074312554381852 0.141531075879301 0.06954757274337188" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.030743125543818518 0.141531075879301 0.06954757274337188" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="0 4.2183273077367467e-07 -0.02249994137315358" rpy="0 0 0"/>
-    <axis xyz="-3.787621790776764e-08 2.805197706023475e-08 1.0000002566182309"/>
+    <origin xyz="0 4.2183273077367467e-07 -0.022499941373153573" rpy="0 0 0"/>
+    <axis xyz="-3.787621790513063e-08 2.805197706068352e-08 1.0000002566182309"/>
     <parent link="r_shoulder_3"/>
     <child link="r_upper_arm"/>
     <limit effort="50000" lower="-0.8726646259971648" upper="1.3962634015954636" velocity="120.0"/>
@@ -754,12 +754,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.011624818009452066 -0.0018028159470199479 0.022300137248866647" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="-0.011624818009452066 -0.00180281594701992 0.022300137248866647" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <mass value="0.397478"/>
       <inertia ixx="0.00139406" ixy="5.80993e-06" ixz="5.27143e-05" iyy="0.00139077" iyz="6.49755e-05" izz="0.000397127"/>
     </inertial>
     <visual>
-      <origin xyz="0.020743193621214673 0.14003143574727356 0.19324791023291824" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.020743193621214673 0.14003143574727359 0.19324791023291824" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_elbow_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -768,15 +768,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.020743193621214673 0.14003143574727356 0.19324791023291824" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.020743193621214673 0.14003143574727359 0.19324791023291824" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_elbow_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_elbow" type="revolute">
-    <origin xyz="0.00999993192260382 0.0014996401320274133 -0.1237003374895465" rpy="0 0 0"/>
-    <axis xyz="2.4949582807394525e-07 -1.0000002733514362 2.7942487010105877e-08"/>
+    <origin xyz="0.009999931922603816 0.0014996401320274133 -0.1237003374895465" rpy="0 0 0"/>
+    <axis xyz="2.4949582809984105e-07 -1.0000002733514362 2.7942487004772865e-08"/>
     <parent link="r_upper_arm"/>
     <child link="r_elbow_1"/>
     <limit effort="50000" lower="-0.05235987755982989" upper="1.3089969389957472" velocity="120.0"/>
@@ -805,8 +805,8 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.014999869468812953 -0.0019996499053189787 -0.05530006367251966" rpy="0 0 0"/>
-    <axis xyz="-3.787621790776764e-08 2.805197706023475e-08 1.0000002566182309"/>
+    <origin xyz="-0.014999869468812953 -0.001999649905318951 -0.05530006367251966" rpy="0 0 0"/>
+    <axis xyz="-3.787621790513063e-08 2.805197706068352e-08 1.0000002566182309"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
     <limit effort="50000" lower="-1.53588974175501" upper="1.53588974175501" velocity="120.0"/>
@@ -814,12 +814,12 @@
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="-0.014389827079018234 0.0005092753390521787 -9.78731576423697e-05" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="-0.014389827079018234 0.0005092753390522065 -9.787315764231419e-05" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <mass value="0.0344005"/>
       <inertia ixx="5.11755e-06" ixy="9.19776e-07" ixz="1.47559e-08" iyy="1.60849e-06" iyz="-1.11493e-07" izz="5.58546e-06"/>
     </inertial>
     <visual>
-      <origin xyz="0.019443109736078983 0.14403852854340418 0.3560480536175445" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.019443109736078983 0.1440385285434042 0.35604805361754455" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -828,7 +828,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.019443109736078983 0.14403852854340418 0.3560480536175445" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.019443109736078983 0.1440385285434042 0.35604805361754455" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -836,7 +836,7 @@
   </link>
   <joint name="r_wrist_pitch" type="revolute">
     <origin xyz="0.016299953353948633 -0.002007442890811839 -0.10750007971210637" rpy="0 0 0"/>
-    <axis xyz="0.9999998262417886 -4.210501434612913e-08 -2.4630481182686846e-08"/>
+    <axis xyz="0.9999998262417886 -4.2105014356162707e-08 -2.4630481189336084e-08"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
     <limit effort="50000" lower="-1.2217304763960306" upper="0.4363323129985824" velocity="120.0"/>
@@ -844,12 +844,12 @@
   </joint>
   <link name="r_hand">
     <inertial>
-      <origin xyz="0.004828314385249669 0.00615667237451184 -0.0671378028889843" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.004828314385249662 0.00615667237451184 -0.0671378028889843" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <mass value="0.264229"/>
       <inertia ixx="0.000428764" ixy="4.7873e-05" ixz="1.1114e-05" iyy="0.000348073" iyz="1.14469e-05" izz="0.00016164"/>
     </inertial>
     <visual>
-      <origin xyz="0.03574323261035172 0.1370391384923124 0.35604813291443793" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.03574323261035171 0.1370391384923124 0.35604813291443793" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_hand_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -858,15 +858,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.03574323261035172 0.1370391384923124 0.35604813291443793" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.03574323261035171 0.1370391384923124 0.35604813291443793" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_hand_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="continuous">
-    <origin xyz="-0.016300122874272734 0.006999390051091792 0" rpy="0 0 0"/>
-    <axis xyz="-2.4949582807394525e-07 1.0000002733514362 -2.7942487010105877e-08"/>
+    <origin xyz="-0.016300122874272734 0.0069993900510918194 0" rpy="0 0 0"/>
+    <axis xyz="-2.4949582809984105e-07 1.0000002733514362 -2.7942487004772865e-08"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
     <dynamics damping="0.1"/>
@@ -1524,7 +1524,7 @@
         <frame>sensor</frame>
         <measure_direction>child_to_parent</measure_direction>
       </force_torque>
-      <pose>-0.004350133156978318 3.632573233602887e-07 -0.05430003872406172 3.141592646862139 -3.10468332187885e-08 -1.5707962571980942</pose>
+      <pose>-0.004350133156978329 3.632573233880443e-07 -0.05430003872406172 3.141592646862139 -3.104683320142575e-08 -1.5707962571980942</pose>
       <plugin name="left_arm_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
   <yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_left_arm_ft.ini</yarpConfigurationFile>
 </plugin>
@@ -1536,7 +1536,7 @@
       <frame>sensor</frame>
       <measure_direction>child_to_parent</measure_direction>
     </force_torque>
-    <origin rpy="3.141592646862139 -3.10468332187885e-08 -1.5707962571980942" xyz="-0.004350133156978318 3.632573233602887e-07 -0.05430003872406172"/>
+    <origin rpy="3.141592646862139 -3.104683320142575e-08 -1.5707962571980942" xyz="-0.004350133156978329 3.632573233880443e-07 -0.05430003872406172"/>
   </sensor>
   <gazebo reference="r_arm_ft_sensor">
     <sensor name="r_arm_ft_sensor" type="force_torque">
@@ -1546,7 +1546,7 @@
         <frame>sensor</frame>
         <measure_direction>child_to_parent</measure_direction>
       </force_torque>
-      <pose>-0.006849946385389872 2.1904996058697002e-07 -0.05429998157789099 3.141592644717707 4.094299285979593e-08 1.5707964185756365</pose>
+      <pose>-0.006849946385389875 2.1904996055921444e-07 -0.05429998157789099 3.141592644717707 4.094299285979593e-08 1.5707964185756365</pose>
       <plugin name="right_arm_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
   <yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_right_arm_ft.ini</yarpConfigurationFile>
 </plugin>
@@ -1558,7 +1558,7 @@
       <frame>sensor</frame>
       <measure_direction>child_to_parent</measure_direction>
     </force_torque>
-    <origin rpy="3.141592644717707 4.094299285979593e-08 1.5707964185756365" xyz="-0.006849946385389872 2.1904996058697002e-07 -0.05429998157789099"/>
+    <origin rpy="3.141592644717707 4.094299285979593e-08 1.5707964185756365" xyz="-0.006849946385389875 2.1904996055921444e-07 -0.05429998157789099"/>
   </sensor>
   <gazebo reference="l_foot_front_ft_sensor">
     <sensor name="l_foot_front_ft_sensor" type="force_torque">

From 46ce0473e6b41229f6acc39154220d8365c6f62f Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio.traversaro@iit.it>
Date: Fri, 11 Dec 2020 09:43:01 +0000
Subject: [PATCH 06/10] Automatic build. GitHub Actions build: 415084145
 icub-model-generator commit:24a3dd74b402c80c068076f2a55028ba9c2352a7
 urdf_parser_py commit:31474b9baaf7c3845b40e5a9aa87d5900a2282c3
 simmechanics-to-urdf commit:f6055ab8d627c45138ddde46532ea42a74b48caa

---
 ...cub_left_arm_no_hand_for_no_hand_model.ini |   2 +-
 iCub/conf_icub3/gazebo_icub_left_leg.ini      |   4 +-
 ...ub_right_arm_no_hand_for_no_hand_model.ini |   2 +-
 iCub/conf_icub3/gazebo_icub_right_leg.ini     |   4 +-
 iCub/robots/iCubDarmstadt01/model.urdf        | 374 +++++++++---------
 iCub/robots/iCubGazeboV2_5/model.urdf         | 372 ++++++++---------
 iCub/robots/iCubGazeboV2_5_plus/model.urdf    | 346 ++++++++--------
 iCub/robots/iCubGazeboV2_6/model.urdf         | 372 ++++++++---------
 iCub/robots/iCubGazeboV2_7/model.urdf         | 372 ++++++++---------
 iCub/robots/iCubGazeboV3/model.urdf           | 144 +++----
 iCub/robots/iCubGenova01/model.urdf           | 374 +++++++++---------
 iCub/robots/iCubGenova02/model.urdf           | 348 ++++++++--------
 iCub/robots/iCubGenova04/model.urdf           | 374 +++++++++---------
 iCub/robots/iCubGenova04_plus/model.urdf      | 348 ++++++++--------
 iCub/robots/iCubGenova09/model.urdf           | 144 +++----
 15 files changed, 1790 insertions(+), 1790 deletions(-)

diff --git a/iCub/conf_icub3/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini b/iCub/conf_icub3/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini
index 5729205..4e049cd 100644
--- a/iCub/conf_icub3/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini
+++ b/iCub/conf_icub3/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini
@@ -38,7 +38,7 @@ max_damping   100.0  100.0  100.0  100.0  100.0  100.0  100.0
 [POSITION_CONTROL]
 controlUnits  metric_units
 controlLaw    joint_pid_gazebo_v1
-kp            1.745 1.745 1.745 1.745 1.745 1.745 1.745
+kp            5.745 5.745 5.745 1.745 1.745 1.745 1.745
 kd            0.174 0.174 0.174 0.174 0.174 0.174 0.0
 ki            0.174 0.174 0.174 0.174 0.174 0.174 0.0
 maxInt        9999  9999  9999  9999  9999  9999  9999
diff --git a/iCub/conf_icub3/gazebo_icub_left_leg.ini b/iCub/conf_icub3/gazebo_icub_left_leg.ini
index 08a72b8..a532854 100644
--- a/iCub/conf_icub3/gazebo_icub_left_leg.ini
+++ b/iCub/conf_icub3/gazebo_icub_left_leg.ini
@@ -37,9 +37,9 @@ max_damping   100.0  100.0  100.0  100.0  100.0  100.0
 [POSITION_CONTROL]
 controlUnits  metric_units
 controlLaw    joint_pid_gazebo_v1
-kp            17.453 17.453 17.453 17.453 17.453 17.453
+kp            15.453 22.453 17.453 30.00  25.453 25.453
 kd            0.174  0.174  0.174  0.174  0.174  0.174
-ki            0.174  0.174  0.174  0.174  0.174  0.174
+ki            0.174  0.174  0.174  0.174  0.174  5.174
 maxInt        9999   9999   9999   9999   9999   9999
 maxOutput     9999   9999   9999   9999   9999   9999
 shift         0.0    0.0    0.0    0.0    0.0    0.0
diff --git a/iCub/conf_icub3/gazebo_icub_right_arm_no_hand_for_no_hand_model.ini b/iCub/conf_icub3/gazebo_icub_right_arm_no_hand_for_no_hand_model.ini
index 71cac29..37187a5 100644
--- a/iCub/conf_icub3/gazebo_icub_right_arm_no_hand_for_no_hand_model.ini
+++ b/iCub/conf_icub3/gazebo_icub_right_arm_no_hand_for_no_hand_model.ini
@@ -38,7 +38,7 @@ max_damping   100.0  100.0  100.0  100.0  100.0  100.0  100.0
 [POSITION_CONTROL]
 controlUnits  metric_units
 controlLaw    joint_pid_gazebo_v1
-kp            1.745 1.745 1.745 1.745 1.745 1.745 1.745
+kp            5.745 5.745 5.745 1.745 1.745 1.745 1.745
 kd            0.174 0.174 0.174 0.174 0.174 0.174 0.0
 ki            0.174 0.174 0.174 0.174 0.174 0.174 0.0
 maxInt        9999  9999  9999  9999  9999  9999  9999
diff --git a/iCub/conf_icub3/gazebo_icub_right_leg.ini b/iCub/conf_icub3/gazebo_icub_right_leg.ini
index 71d91ec..dd337ce 100644
--- a/iCub/conf_icub3/gazebo_icub_right_leg.ini
+++ b/iCub/conf_icub3/gazebo_icub_right_leg.ini
@@ -37,9 +37,9 @@ max_damping   100.0  100.0  100.0  100.0  100.0  100.0
 [POSITION_CONTROL]
 controlUnits  metric_units
 controlLaw    joint_pid_gazebo_v1
-kp            17.453 17.453 17.453 17.453 17.453 17.453
+kp            15.453 22.453 17.453 30.00  25.453 25.453
 kd            0.174  0.174  0.174  0.174  0.174  0.174
-ki            0.174  0.174  0.174  0.174  0.174  0.174
+ki            0.174  0.174  0.174  0.174  0.174  5.174
 maxInt        9999   9999   9999   9999   9999   9999
 maxOutput     9999   9999   9999   9999   9999   9999
 shift         0.0    0.0    0.0    0.0    0.0    0.0
diff --git a/iCub/robots/iCubDarmstadt01/model.urdf b/iCub/robots/iCubDarmstadt01/model.urdf
index 1acd7d5..676aece 100644
--- a/iCub/robots/iCubDarmstadt01/model.urdf
+++ b/iCub/robots/iCubDarmstadt01/model.urdf
@@ -23,12 +23,12 @@
   </link>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -37,7 +37,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -199,7 +199,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
+    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -213,7 +213,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
+    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -241,7 +241,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
+    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -269,21 +269,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
+    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
+    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
+    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -318,14 +318,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
+    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
+    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -339,21 +339,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
+    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
+    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
+    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -374,14 +374,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
+    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
+    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -402,7 +402,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
+    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -416,7 +416,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
+    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -511,12 +511,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.03360009999999998 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.033600099999999994 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.382866"/>
       <inertia ixx="0.00120946" ixy="3.74585e-07" ixz="-5.78759e-05" iyy="0.00141439" iyz="-7.80325e-06" izz="0.000273599"/>
     </inertial>
     <visual>
-      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -525,7 +525,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -539,14 +539,14 @@
   </joint>
   <link name="r_sole"/>
   <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.003499999999999996 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
+    <origin xyz="0.003500000000000003 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_0"/>
   <joint name="r_sole_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.06047669999999999 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.060476699999999994 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_0"/>
     <dynamics damping="0.1"/>
@@ -560,14 +560,14 @@
   </joint>
   <link name="r_sole_skin_2"/>
   <joint name="r_sole_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.09320869999999998 -0.032368 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.09320869999999999 -0.032368 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_3"/>
   <joint name="r_sole_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.11158309999999996 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.11158309999999998 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_3"/>
     <dynamics damping="0.1"/>
@@ -609,112 +609,112 @@
   </joint>
   <link name="r_sole_skin_12"/>
   <joint name="r_sole_skin_12_fixed_joint" type="fixed">
-    <origin xyz="0.08286799999999997 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.08286799999999998 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_12"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_13"/>
   <joint name="r_sole_skin_13_fixed_joint" type="fixed">
-    <origin xyz="0.10124239999999997 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.10124239999999998 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_13"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_14"/>
   <joint name="r_sole_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05013603999999998 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.050136039999999986 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_14"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_15"/>
   <joint name="r_sole_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.046119189999999984 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.04611918999999999 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_17"/>
   <joint name="r_sole_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.029685499999999997 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.02968549999999999 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_18"/>
   <joint name="r_sole_skin_18_fixed_joint" type="fixed">
-    <origin xyz="-0.04805990000000001 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.0480599 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_18"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_19"/>
   <joint name="r_sole_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.05207670000000001 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.052076700000000004 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_20"/>
   <joint name="r_sole_skin_20_fixed_joint" type="fixed">
-    <origin xyz="-0.037719200000000015 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.03771920000000001 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_21"/>
   <joint name="r_sole_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.03577849999999998 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.03577849999999999 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_21"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_22"/>
   <joint name="r_sole_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.02774479999999999 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.027744799999999997 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_22"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_24"/>
   <joint name="r_sole_skin_24_fixed_joint" type="fixed">
-    <origin xyz="-0.004987200000000004 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.004987199999999997 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_24"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_25"/>
   <joint name="r_sole_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.013387199999999995 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.013387200000000002 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_25"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_26"/>
   <joint name="r_sole_skin_26_fixed_joint" type="fixed">
-    <origin xyz="0.017404099999999985 0.0133722 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.017404099999999992 0.0133722 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_26"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_27"/>
   <joint name="r_sole_skin_27_fixed_joint" type="fixed">
-    <origin xyz="0.0030464999999999798 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.0030464999999999867 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_27"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_28"/>
   <joint name="r_sole_skin_28_fixed_joint" type="fixed">
-    <origin xyz="-0.015327899999999998 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.015327899999999992 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_28"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_29"/>
   <joint name="r_sole_skin_29_fixed_joint" type="fixed">
-    <origin xyz="-0.019344800000000002 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.019344799999999995 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_29"/>
     <dynamics damping="0.1"/>
@@ -938,12 +938,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
+      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000158626" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.000206526" iyz="1.19785e-06" izz="0.000104956"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -952,15 +952,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
-    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
+    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -989,7 +989,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
+    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -1026,12 +1026,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13344e-05" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="5.86947e-05" iyz="3.92498e-06" izz="9.68353e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1040,7 +1040,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1056,7 +1056,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -1077,7 +1077,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -1086,35 +1086,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1135,14 +1135,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -1170,7 +1170,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -1191,35 +1191,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1254,19 +1254,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="5.57722e-06" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="5.29845e-06" iyz="-1.59685e-07" izz="1.87724e-06"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1275,14 +1275,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -1312,7 +1312,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -1358,12 +1358,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
+      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000159621" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.000222574" iyz="1.20112e-06" izz="0.000120056"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1372,15 +1372,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
-    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
+    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -1409,7 +1409,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
+    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -1446,7 +1446,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13352e-05" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="5.86823e-05" iyz="3.9319e-06" izz="9.68469e-05"/>
     </inertial>
@@ -1476,7 +1476,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -1497,7 +1497,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -1506,35 +1506,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1555,7 +1555,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -1576,7 +1576,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -1611,35 +1611,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1653,7 +1653,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1674,19 +1674,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="5.56774e-06" ixy="3.08362e-08" ixz="9.42153e-07" iyy="5.28838e-06" iyz="-1.58924e-07" izz="1.87579e-06"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1695,14 +1695,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1732,7 +1732,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1748,12 +1748,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1762,7 +1762,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1778,12 +1778,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0011062999999999906 1.7299999999997873e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0011062999999999976 1.730000000001175e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.415987"/>
       <inertia ixx="0.000475741" ixy="2.89355e-07" ixz="-6.72876e-08" iyy="0.000279828" iyz="6.7417e-06" izz="0.000307828"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1792,14 +1792,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
+    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1808,12 +1808,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.00012289999999999524 -0.00028229999999998534 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012290000000000217 -0.0002822999999999992 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="3.27938e-05" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="5.69957e-05" iyz="3.32338e-08" izz="3.26449e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1822,26 +1822,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008301999999999893 7.519999999998361e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008301999999999962 7.519999999999749e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868999999999982 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868999999999913 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1850,7 +1850,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1866,7 +1866,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.05125669999999999 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.051256699999999995 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1880,12 +1880,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.000999800000000002 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0009997999999999951 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1894,7 +1894,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1910,12 +1910,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015153099999999996 0.000902 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.015153099999999989 0.0009020000000000139 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447429734460005" ixy="-1.1322603878053663e-06" ixz="3.046651057758992e-05" iyy="0.0004478873540695352" iyz="2.5726583414130826e-06" izz="0.0003076030453774591"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1924,7 +1924,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1940,12 +1940,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011447000000000054 3.5999999999786203e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0011446999999999985 3.599999999992498e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.265122"/>
       <inertia ixx="0.000327222" ixy="-4.74606e-08" ixz="4.94571e-08" iyy="0.000248285" iyz="-4.29975e-06" izz="0.000150937"/>
     </inertial>
     <visual>
-      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1954,7 +1954,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1991,7 +1991,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.003499999999999996 0 -0.0605" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.003500000000000003 0 -0.0605" rpy="3.141592653589793 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2658,13 +2658,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2706,13 +2706,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2754,13 +2754,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2778,13 +2778,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2814,13 +2814,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2838,13 +2838,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2862,13 +2862,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -3004,24 +3004,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -3063,13 +3063,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
+      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
@@ -3087,178 +3087,178 @@
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07847939999999998 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
+      <pose>0.07847939999999999 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999998 -0.011812200000000009 -0.001214999999999966"/>
+    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999999 -0.011812200000000009 -0.001214999999999966"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012577000000000005 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.012577000000000012 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000005 -0.04040720000000002 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000012 -0.04040720000000002 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012574999999999996 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012575000000000003 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012574999999999996 0.04040679999999998 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575000000000003 0.04040679999999998 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.01308100000000001 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.013081000000000016 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.01308100000000001 -0.04040720000000002 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000016 -0.04040720000000002 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013078999999999993 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.013079 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999993 0.04040679999999998 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013079 0.04040679999999998 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04200169 0.03156479999999999 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
+      <pose>0.042001689999999994 0.03156479999999999 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.04200169 0.03156479999999999 0.04913199999999998"/>
+    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.042001689999999994 0.03156479999999999 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352114999999999 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352114999999998 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999999 0.007765700000000014 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999998 0.007765700000000014 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053784999999999986 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999998 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429400000000002 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999998 -0.014429400000000002 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.03412954999999999 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412954999999998 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999999 -0.0414999 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999998 -0.0414999 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378499999999999 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.043785 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999999 0.017810999999999994 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043785 0.017810999999999994 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785000000000004 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.04378500000000001 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785000000000004 -0.014191800000000011 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378500000000001 -0.014191800000000011 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.043513791999999996 0.011314499999999963 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04351379199999999 0.011314499999999963 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.043513791999999996 0.011314499999999963 -0.09276499999999999"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351379199999999 0.011314499999999963 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.044503353999999995 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04450335399999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503353999999995 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450335399999999 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05313352999999999 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.053133529999999984 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313352999999999 0.017184099999999994 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133529999999984 0.017184099999999994 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
@@ -3276,25 +3276,25 @@
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915200000000003 0.04274479999999997 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
+      <pose>0.025915199999999996 0.04274479999999997 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.025915200000000003 0.04274479999999997 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915199999999996 0.04274479999999997 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999984 -0.041718700000000025 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
+      <pose>0.018459299999999977 -0.041718700000000025 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999984 -0.041718700000000025 -0.09295800000000004"/>
+    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999977 -0.041718700000000025 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
@@ -3368,45 +3368,45 @@
     <sensor name="l_upper_leg_ft_acc_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_acc_3b12" type="accelerometer">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_hip_2">
     <sensor name="l_upper_leg_ft_gyro_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_gyro_3b12" type="gyroscope">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_acc_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_acc_3b13" type="accelerometer">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_gyro_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_gyro_3b13" type="gyroscope">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
   </sensor>
   <gazebo>
     <pose>0.0 0.0 0.63 0.0 0.0 3.14</pose>
diff --git a/iCub/robots/iCubGazeboV2_5/model.urdf b/iCub/robots/iCubGazeboV2_5/model.urdf
index 332206e..a2fd141 100644
--- a/iCub/robots/iCubGazeboV2_5/model.urdf
+++ b/iCub/robots/iCubGazeboV2_5/model.urdf
@@ -23,12 +23,12 @@
   </link>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -37,7 +37,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -199,7 +199,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
+    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -213,7 +213,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
+    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -241,7 +241,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
+    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -269,21 +269,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
+    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
+    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
+    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -318,14 +318,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
+    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
+    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -339,21 +339,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
+    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
+    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
+    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -374,14 +374,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
+    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
+    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -402,7 +402,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
+    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -416,7 +416,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
+    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -511,12 +511,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.03360009999999998 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.033600099999999994 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.382866"/>
       <inertia ixx="0.00120946" ixy="3.74585e-07" ixz="-5.78759e-05" iyy="0.00141439" iyz="-7.80325e-06" izz="0.000273599"/>
     </inertial>
     <visual>
-      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -539,14 +539,14 @@
   </joint>
   <link name="r_sole"/>
   <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.003499999999999996 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
+    <origin xyz="0.003500000000000003 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_0"/>
   <joint name="r_sole_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.06047669999999999 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.060476699999999994 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_0"/>
     <dynamics damping="0.1"/>
@@ -560,14 +560,14 @@
   </joint>
   <link name="r_sole_skin_2"/>
   <joint name="r_sole_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.09320869999999998 -0.032368 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.09320869999999999 -0.032368 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_3"/>
   <joint name="r_sole_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.11158309999999996 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.11158309999999998 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_3"/>
     <dynamics damping="0.1"/>
@@ -609,112 +609,112 @@
   </joint>
   <link name="r_sole_skin_12"/>
   <joint name="r_sole_skin_12_fixed_joint" type="fixed">
-    <origin xyz="0.08286799999999997 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.08286799999999998 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_12"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_13"/>
   <joint name="r_sole_skin_13_fixed_joint" type="fixed">
-    <origin xyz="0.10124239999999997 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.10124239999999998 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_13"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_14"/>
   <joint name="r_sole_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05013603999999998 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.050136039999999986 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_14"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_15"/>
   <joint name="r_sole_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.046119189999999984 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.04611918999999999 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_17"/>
   <joint name="r_sole_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.029685499999999997 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.02968549999999999 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_18"/>
   <joint name="r_sole_skin_18_fixed_joint" type="fixed">
-    <origin xyz="-0.04805990000000001 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.0480599 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_18"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_19"/>
   <joint name="r_sole_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.05207670000000001 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.052076700000000004 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_20"/>
   <joint name="r_sole_skin_20_fixed_joint" type="fixed">
-    <origin xyz="-0.037719200000000015 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.03771920000000001 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_21"/>
   <joint name="r_sole_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.03577849999999998 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.03577849999999999 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_21"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_22"/>
   <joint name="r_sole_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.02774479999999999 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.027744799999999997 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_22"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_24"/>
   <joint name="r_sole_skin_24_fixed_joint" type="fixed">
-    <origin xyz="-0.004987200000000004 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.004987199999999997 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_24"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_25"/>
   <joint name="r_sole_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.013387199999999995 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.013387200000000002 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_25"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_26"/>
   <joint name="r_sole_skin_26_fixed_joint" type="fixed">
-    <origin xyz="0.017404099999999985 0.0133722 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.017404099999999992 0.0133722 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_26"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_27"/>
   <joint name="r_sole_skin_27_fixed_joint" type="fixed">
-    <origin xyz="0.0030464999999999798 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.0030464999999999867 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_27"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_28"/>
   <joint name="r_sole_skin_28_fixed_joint" type="fixed">
-    <origin xyz="-0.015327899999999998 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.015327899999999992 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_28"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_29"/>
   <joint name="r_sole_skin_29_fixed_joint" type="fixed">
-    <origin xyz="-0.019344800000000002 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.019344799999999995 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_29"/>
     <dynamics damping="0.1"/>
@@ -938,12 +938,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
+      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.01" iyz="1.19785e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -952,15 +952,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
-    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
+    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -989,7 +989,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
+    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -1026,12 +1026,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="0.01" iyz="3.92498e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1040,7 +1040,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1056,7 +1056,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -1077,7 +1077,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -1086,35 +1086,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1135,14 +1135,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -1170,7 +1170,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -1191,35 +1191,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1254,19 +1254,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="0.01" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="0.01" iyz="-1.59685e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1275,14 +1275,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -1312,7 +1312,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -1358,12 +1358,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
+      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.01" iyz="1.20112e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1372,15 +1372,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
-    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
+    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -1409,7 +1409,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
+    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -1446,7 +1446,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="0.01" iyz="3.9319e-06" izz="0.01"/>
     </inertial>
@@ -1476,7 +1476,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -1497,7 +1497,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -1506,35 +1506,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1555,7 +1555,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -1576,7 +1576,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -1611,35 +1611,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1653,7 +1653,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1674,19 +1674,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="0.01" ixy="3.08362e-08" ixz="9.42153e-07" iyy="0.01" iyz="-1.58924e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1695,14 +1695,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1732,7 +1732,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1748,12 +1748,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1762,7 +1762,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1778,12 +1778,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0011062999999999906 1.7299999999997873e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0011062999999999976 1.730000000001175e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.415987"/>
       <inertia ixx="0.000475741" ixy="2.89355e-07" ixz="-6.72876e-08" iyy="0.000279828" iyz="6.7417e-06" izz="0.000307828"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1792,14 +1792,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
+    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1808,12 +1808,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.00012289999999999524 -0.00028229999999998534 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012290000000000217 -0.0002822999999999992 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="0.01" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="0.01" iyz="3.32338e-08" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1822,26 +1822,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008301999999999893 7.519999999998361e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008301999999999962 7.519999999999749e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868999999999982 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868999999999913 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1850,7 +1850,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1866,7 +1866,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.05125669999999999 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.051256699999999995 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1880,12 +1880,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.000999800000000002 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0009997999999999951 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1894,7 +1894,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1910,12 +1910,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015153099999999996 0.000902 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.015153099999999989 0.0009020000000000139 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447429734460005" ixy="-1.1322603878053663e-06" ixz="3.046651057758992e-05" iyy="0.0004478873540695352" iyz="2.5726583414130826e-06" izz="0.0003076030453774591"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1924,7 +1924,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1940,12 +1940,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011447000000000054 3.5999999999786203e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0011446999999999985 3.599999999992498e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.265122"/>
       <inertia ixx="0.01" ixy="-4.74606e-08" ixz="4.94571e-08" iyy="0.01" iyz="-4.29975e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1954,7 +1954,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1991,7 +1991,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.003499999999999996 0 -0.0605" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.003500000000000003 0 -0.0605" rpy="3.141592653589793 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2658,13 +2658,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2706,13 +2706,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2754,13 +2754,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2778,13 +2778,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2814,13 +2814,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2838,13 +2838,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2862,13 +2862,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -3004,24 +3004,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -3063,13 +3063,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
+      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
@@ -3087,178 +3087,178 @@
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07847939999999998 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
+      <pose>0.07847939999999999 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999998 -0.011812200000000009 -0.001214999999999966"/>
+    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999999 -0.011812200000000009 -0.001214999999999966"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012577000000000005 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.012577000000000012 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000005 -0.04040720000000002 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000012 -0.04040720000000002 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012574999999999996 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012575000000000003 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012574999999999996 0.04040679999999998 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575000000000003 0.04040679999999998 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.01308100000000001 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.013081000000000016 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.01308100000000001 -0.04040720000000002 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000016 -0.04040720000000002 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013078999999999993 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.013079 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999993 0.04040679999999998 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013079 0.04040679999999998 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04200169 0.03156479999999999 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
+      <pose>0.042001689999999994 0.03156479999999999 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.04200169 0.03156479999999999 0.04913199999999998"/>
+    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.042001689999999994 0.03156479999999999 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352114999999999 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352114999999998 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999999 0.007765700000000014 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999998 0.007765700000000014 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053784999999999986 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999998 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429400000000002 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999998 -0.014429400000000002 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.03412954999999999 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412954999999998 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999999 -0.0414999 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999998 -0.0414999 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378499999999999 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.043785 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999999 0.017810999999999994 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043785 0.017810999999999994 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785000000000004 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.04378500000000001 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785000000000004 -0.014191800000000011 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378500000000001 -0.014191800000000011 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.043513791999999996 0.011314499999999963 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04351379199999999 0.011314499999999963 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.043513791999999996 0.011314499999999963 -0.09276499999999999"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351379199999999 0.011314499999999963 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.044503353999999995 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04450335399999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503353999999995 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450335399999999 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05313352999999999 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.053133529999999984 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313352999999999 0.017184099999999994 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133529999999984 0.017184099999999994 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
@@ -3276,25 +3276,25 @@
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915200000000003 0.04274479999999997 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
+      <pose>0.025915199999999996 0.04274479999999997 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.025915200000000003 0.04274479999999997 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915199999999996 0.04274479999999997 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999984 -0.041718700000000025 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
+      <pose>0.018459299999999977 -0.041718700000000025 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999984 -0.041718700000000025 -0.09295800000000004"/>
+    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999977 -0.041718700000000025 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
@@ -3368,45 +3368,45 @@
     <sensor name="l_upper_leg_ft_acc_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_acc_3b12" type="accelerometer">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_hip_2">
     <sensor name="l_upper_leg_ft_gyro_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_gyro_3b12" type="gyroscope">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_acc_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_acc_3b13" type="accelerometer">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_gyro_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_gyro_3b13" type="gyroscope">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
   </sensor>
   <gazebo>
     <pose>0.0 0.0 0.63 0.0 0.0 3.14</pose>
diff --git a/iCub/robots/iCubGazeboV2_5_plus/model.urdf b/iCub/robots/iCubGazeboV2_5_plus/model.urdf
index e666461..9788760 100644
--- a/iCub/robots/iCubGazeboV2_5_plus/model.urdf
+++ b/iCub/robots/iCubGazeboV2_5_plus/model.urdf
@@ -247,12 +247,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
+      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.01" iyz="1.19785e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -261,15 +261,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
-    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
+    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -298,7 +298,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
+    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -335,12 +335,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="0.01" iyz="3.92498e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -349,7 +349,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -365,7 +365,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -386,7 +386,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -395,35 +395,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -444,14 +444,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -479,7 +479,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -500,35 +500,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -542,7 +542,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -563,19 +563,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="0.01" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="0.01" iyz="-1.59685e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -584,14 +584,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -621,7 +621,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -667,12 +667,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
+      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.01" iyz="1.20112e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -681,15 +681,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
-    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
+    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -718,7 +718,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
+    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -755,7 +755,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="0.01" iyz="3.9319e-06" izz="0.01"/>
     </inertial>
@@ -785,7 +785,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -806,7 +806,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -815,35 +815,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -864,7 +864,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -885,7 +885,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -920,35 +920,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -962,7 +962,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -983,19 +983,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="0.01" ixy="3.08362e-08" ixz="9.42153e-07" iyy="0.01" iyz="-1.58924e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1004,14 +1004,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1041,7 +1041,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1057,12 +1057,12 @@
   </joint>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1071,7 +1071,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.058310299999999995 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
+    <origin xyz="0.058310299999999995 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1247,7 +1247,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208552 0.03044339999999998 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
+    <origin xyz="0.05208552 0.03044339999999998 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -1275,7 +1275,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999999 -0.03117600000000001 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
+    <origin xyz="0.05504769999999999 -0.03117600000000001 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -1303,21 +1303,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.035753400000000005 0.04106279999999999 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
+    <origin xyz="0.035753400000000005 0.04106279999999999 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.023441900000000012 0.04799079999999998 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
+    <origin xyz="0.023441900000000012 0.04799079999999998 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.02427040000000001 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
+    <origin xyz="0.02427040000000001 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -1352,14 +1352,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.047748659999999984 -0.031231999999999996 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
+    <origin xyz="0.047748659999999984 -0.031231999999999996 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322408999999999 -0.01560180000000004 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
+    <origin xyz="0.05322408999999999 -0.01560180000000004 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -1373,21 +1373,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880466999999999 -0.031263 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
+    <origin xyz="0.04880466999999999 -0.031263 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999999 -0.01591290000000002 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
+    <origin xyz="0.05660089999999999 -0.01591290000000002 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.057010599999999995 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
+    <origin xyz="0.057010599999999995 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -1408,14 +1408,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641629999999995 0.01763889999999997 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
+    <origin xyz="0.052641629999999995 0.01763889999999997 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113137 0.032438499999999953 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
+    <origin xyz="0.04113137 0.032438499999999953 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -1436,7 +1436,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998319999999995 0.0012663999999999592 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
+    <origin xyz="0.052998319999999995 0.0012663999999999592 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -1450,7 +1450,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127079999999986 -0.030749000000000026 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
+    <origin xyz="0.045127079999999986 -0.030749000000000026 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -1485,12 +1485,12 @@
   </joint>
   <link name="r_ankle_1">
     <inertial>
-      <origin xyz="0.015143405473968821 -0.0008685000000000082 4.2859082720503316e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.015143405473968807 -0.0008685000000000082 4.2859082720503316e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.6803"/>
       <inertia ixx="0.0004046207392315529" ixy="8.523488844593136e-06" ixz="-2.8913590319053794e-05" iyy="0.0004379396781535379" iyz="3.7330395179426065e-05" izz="0.00031892819418424145"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272424511754 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424511755 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1499,7 +1499,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272424511754 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424511755 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1515,12 +1515,12 @@
   </joint>
   <link name="r_ankle_2">
     <inertial>
-      <origin xyz="0.0011452157753235187 -8.299999999988872e-06 -0.038511854107377785" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.0011452157753235048 -8.299999999988872e-06 -0.038511854107377785" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.265337"/>
       <inertia ixx="0.01" ixy="-7.94989e-08" ixz="8.24551e-09" iyy="0.01" iyz="2.0701e-05" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272442308744 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442308745 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1529,7 +1529,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272442308744 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442308745 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1537,7 +1537,7 @@
   </link>
   <joint name="r_ankle_roll" type="revolute">
     <origin xyz="0 0 0" rpy="0 0 0"/>
-    <axis xyz="-1.0000001561184808 -6.013654019199066e-16 1.1979394973216095e-07"/>
+    <axis xyz="-1.0000001561184808 -6.013654019199066e-16 1.197939497389039e-07"/>
     <parent link="r_ankle_1"/>
     <child link="r_ankle_2"/>
     <limit effort="37.0" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="7.64"/>
@@ -1545,12 +1545,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.039779742643594365 0.004553699994905444 -0.006311816589999797" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
+      <origin xyz="0.039779742643594365 0.004553699994905444 -0.006311816589999797" rpy="-1.832595507822573 0 -1.5707963267948983"/>
       <mass value="0.357881"/>
       <inertia ixx="0.00109611" ixy="-2.9193e-07" ixz="-3.70109e-05" iyy="0.00125706" iyz="5.10952e-06" izz="0.000215359"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
+      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.832595507822573 0 -1.5707963267948983"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1566,7 +1566,7 @@
     </collision>
   </link>
   <joint name="r_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.0034999280659716026 0 -0.060500343280208146" rpy="3.141592652417863 0 0"/>
+    <origin xyz="-0.0034999280659716164 0 -0.060500343280208146" rpy="3.141592652417863 0 0"/>
     <parent link="r_ankle_2"/>
     <child link="r_foot"/>
     <dynamics damping="0.1"/>
@@ -1580,12 +1580,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1594,7 +1594,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1610,12 +1610,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0015761999999999929 -1.940000000000275e-05 -0.04405299999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0015761999999999998 -1.939999999998887e-05 -0.04405299999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.421106"/>
       <inertia ixx="0.000494284" ixy="1.5483e-07" ixz="-1.86308e-07" iyy="0.000288736" iyz="1.52962e-05" izz="0.000319008"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1624,14 +1624,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
+    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1640,12 +1640,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.00012299999999999117 -0.0002823000000000131 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.0001229999999999981 -0.000282300000000027 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="0.01" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="0.01" iyz="3.32338e-08" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.043708999809320984 0.07010000000001014 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370899980932098 0.07010000000001013 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1654,26 +1654,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.043708999809320984 0.07010000000001014 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370899980932098 0.07010000000001013 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008574999999999972 0 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008575000000000041 0 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868000000000092 0.00010179999999999911 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868000000000023 0.00010179999999999911 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.043708999809320984 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980932098 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1682,7 +1682,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.043708999809320984 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980932098 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1698,7 +1698,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.051256699999999975 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.05125669999999998 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1712,12 +1712,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.000999700000000013 0.0034968999999999834 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0009997000000000061 0.0034968999999999834 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370899980931699 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980931698 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1726,7 +1726,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370899980931699 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980931698 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1742,12 +1742,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015152971856010347 0.0009021000000000029 4.2316556559285345e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.015152971856010333 0.0009021000000000029 4.2316556559285345e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447618553062084" ixy="-8.97867775831874e-06" ixz="2.9134846047326194e-05" iyy="0.00043720150287133953" iyz="3.730206268073148e-05" izz="0.00031828795462876227"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272424516862 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424516864 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1756,7 +1756,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272424516862 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424516864 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1772,12 +1772,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011452157753235465 -8.299999999974994e-06 -0.038511854107377674" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.0011452157753235326 -8.299999999974994e-06 -0.038511854107377674" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.265337"/>
       <inertia ixx="0.01" ixy="-7.94989e-08" ixz="8.24551e-09" iyy="0.01" iyz="2.0701e-05" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272442313177 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442313178 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1786,7 +1786,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272442313177 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442313178 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1794,7 +1794,7 @@
   </link>
   <joint name="l_ankle_roll" type="revolute">
     <origin xyz="0 0 0" rpy="0 0 0"/>
-    <axis xyz="1.0000001561184808 6.013654019199066e-16 -1.1979394973216095e-07"/>
+    <axis xyz="1.0000001561184808 6.013654019199066e-16 -1.197939497389039e-07"/>
     <parent link="l_ankle_1"/>
     <child link="l_ankle_2"/>
     <limit effort="37.0" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="7.64"/>
@@ -1823,7 +1823,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.0034999280659716026 0 -0.060500343280208146" rpy="-3.141592643239301 0 0"/>
+    <origin xyz="-0.0034999280659716164 0 -0.060500343280208146" rpy="-3.141592643239301 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2315,13 +2315,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2363,13 +2363,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2411,13 +2411,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2435,13 +2435,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2471,13 +2471,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2495,13 +2495,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2519,13 +2519,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -2661,24 +2661,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351373 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04351373 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351373 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351373 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.044503292 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.044503292 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
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   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -2696,13 +2696,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0537517 0.01572289999999999 -0.0043179999999999885 -1.5707962918765586 -1.5706802104434696 -1.2217307215014315</pose>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b9" type="accelerometer">
     <parent link="r_lower_leg"/>
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   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b10" type="imu">
@@ -2720,238 +2720,238 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.01648010000000001 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
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     <sensor name="r_foot_mtb_acc_11b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b12" type="accelerometer">
     <parent link="r_foot"/>
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   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
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   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
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     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
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       <update_rate>100</update_rate>
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     <parent link="l_upper_leg"/>
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   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
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   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.01307899999999998 0.040407 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
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   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
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   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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     <parent link="l_upper_leg"/>
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     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
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     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
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     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
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       <always_on>1</always_on>
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-      <pose>0.02591510000000001 0.042743999999999976 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
+      <pose>0.025915100000000003 0.042743999999999976 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.02591510000000001 0.042743999999999976 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915100000000003 0.042743999999999976 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999994 -0.04171870000000001 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
+      <pose>0.018459299999999988 -0.04171870000000001 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999994 -0.04171870000000001 -0.09295800000000004"/>
+    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999988 -0.04171870000000001 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
diff --git a/iCub/robots/iCubGazeboV2_6/model.urdf b/iCub/robots/iCubGazeboV2_6/model.urdf
index cdfb5bb..4024cab 100644
--- a/iCub/robots/iCubGazeboV2_6/model.urdf
+++ b/iCub/robots/iCubGazeboV2_6/model.urdf
@@ -23,12 +23,12 @@
   </link>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -37,7 +37,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -199,7 +199,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
+    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -213,7 +213,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
+    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -241,7 +241,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
+    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -269,21 +269,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
+    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
+    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
+    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -318,14 +318,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
+    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
+    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -339,21 +339,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
+    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
+    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
+    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -374,14 +374,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
+    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
+    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -402,7 +402,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
+    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -416,7 +416,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
+    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -511,12 +511,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.03360009999999998 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.033600099999999994 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.382866"/>
       <inertia ixx="0.00120946" ixy="3.74585e-07" ixz="-5.78759e-05" iyy="0.00141439" iyz="-7.80325e-06" izz="0.000273599"/>
     </inertial>
     <visual>
-      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -539,14 +539,14 @@
   </joint>
   <link name="r_sole"/>
   <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.003499999999999996 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
+    <origin xyz="0.003500000000000003 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_0"/>
   <joint name="r_sole_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.06047669999999999 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.060476699999999994 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_0"/>
     <dynamics damping="0.1"/>
@@ -560,14 +560,14 @@
   </joint>
   <link name="r_sole_skin_2"/>
   <joint name="r_sole_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.09320869999999998 -0.032368 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.09320869999999999 -0.032368 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_3"/>
   <joint name="r_sole_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.11158309999999996 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.11158309999999998 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_3"/>
     <dynamics damping="0.1"/>
@@ -609,112 +609,112 @@
   </joint>
   <link name="r_sole_skin_12"/>
   <joint name="r_sole_skin_12_fixed_joint" type="fixed">
-    <origin xyz="0.08286799999999997 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.08286799999999998 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_12"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_13"/>
   <joint name="r_sole_skin_13_fixed_joint" type="fixed">
-    <origin xyz="0.10124239999999997 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.10124239999999998 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_13"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_14"/>
   <joint name="r_sole_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05013603999999998 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.050136039999999986 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_14"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_15"/>
   <joint name="r_sole_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.046119189999999984 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.04611918999999999 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_17"/>
   <joint name="r_sole_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.029685499999999997 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.02968549999999999 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_18"/>
   <joint name="r_sole_skin_18_fixed_joint" type="fixed">
-    <origin xyz="-0.04805990000000001 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.0480599 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_18"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_19"/>
   <joint name="r_sole_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.05207670000000001 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.052076700000000004 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_20"/>
   <joint name="r_sole_skin_20_fixed_joint" type="fixed">
-    <origin xyz="-0.037719200000000015 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.03771920000000001 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_21"/>
   <joint name="r_sole_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.03577849999999998 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.03577849999999999 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_21"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_22"/>
   <joint name="r_sole_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.02774479999999999 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.027744799999999997 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_22"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_24"/>
   <joint name="r_sole_skin_24_fixed_joint" type="fixed">
-    <origin xyz="-0.004987200000000004 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.004987199999999997 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_24"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_25"/>
   <joint name="r_sole_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.013387199999999995 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.013387200000000002 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_25"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_26"/>
   <joint name="r_sole_skin_26_fixed_joint" type="fixed">
-    <origin xyz="0.017404099999999985 0.0133722 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.017404099999999992 0.0133722 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_26"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_27"/>
   <joint name="r_sole_skin_27_fixed_joint" type="fixed">
-    <origin xyz="0.0030464999999999798 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.0030464999999999867 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_27"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_28"/>
   <joint name="r_sole_skin_28_fixed_joint" type="fixed">
-    <origin xyz="-0.015327899999999998 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.015327899999999992 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_28"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_29"/>
   <joint name="r_sole_skin_29_fixed_joint" type="fixed">
-    <origin xyz="-0.019344800000000002 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.019344799999999995 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_29"/>
     <dynamics damping="0.1"/>
@@ -938,12 +938,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
+      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.01" iyz="1.19785e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -952,15 +952,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
-    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
+    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -989,7 +989,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
+    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -1026,12 +1026,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="0.01" iyz="3.92498e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1040,7 +1040,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1056,7 +1056,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -1077,7 +1077,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -1086,35 +1086,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1135,14 +1135,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -1170,7 +1170,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -1191,35 +1191,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1254,19 +1254,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="0.01" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="0.01" iyz="-1.59685e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1275,14 +1275,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -1312,7 +1312,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -1358,12 +1358,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
+      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.01" iyz="1.20112e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1372,15 +1372,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
-    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
+    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -1409,7 +1409,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
+    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -1446,7 +1446,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="0.01" iyz="3.9319e-06" izz="0.01"/>
     </inertial>
@@ -1476,7 +1476,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -1497,7 +1497,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -1506,35 +1506,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1555,7 +1555,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -1576,7 +1576,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -1611,35 +1611,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1653,7 +1653,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1674,19 +1674,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="0.01" ixy="3.08362e-08" ixz="9.42153e-07" iyy="0.01" iyz="-1.58924e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1695,14 +1695,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1732,7 +1732,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1748,12 +1748,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1762,7 +1762,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1778,12 +1778,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0011062999999999906 1.7299999999997873e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0011062999999999976 1.730000000001175e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.415987"/>
       <inertia ixx="0.000475741" ixy="2.89355e-07" ixz="-6.72876e-08" iyy="0.000279828" iyz="6.7417e-06" izz="0.000307828"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1792,14 +1792,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
+    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1808,12 +1808,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.00012289999999999524 -0.00028229999999998534 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012290000000000217 -0.0002822999999999992 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="0.01" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="0.01" iyz="3.32338e-08" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1822,26 +1822,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008301999999999893 7.519999999998361e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008301999999999962 7.519999999999749e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868999999999982 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868999999999913 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1850,7 +1850,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1866,7 +1866,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.05125669999999999 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.051256699999999995 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1880,12 +1880,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.000999800000000002 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0009997999999999951 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1894,7 +1894,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1910,12 +1910,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015153099999999996 0.000902 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.015153099999999989 0.0009020000000000139 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447429734460005" ixy="-1.1322603878053663e-06" ixz="3.046651057758992e-05" iyy="0.0004478873540695352" iyz="2.5726583414130826e-06" izz="0.0003076030453774591"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1924,7 +1924,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1940,12 +1940,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011447000000000054 3.5999999999786203e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0011446999999999985 3.599999999992498e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.265122"/>
       <inertia ixx="0.01" ixy="-4.74606e-08" ixz="4.94571e-08" iyy="0.01" iyz="-4.29975e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1954,7 +1954,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1991,7 +1991,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.003499999999999996 0 -0.0605" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.003500000000000003 0 -0.0605" rpy="3.141592653589793 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2658,13 +2658,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2706,13 +2706,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2754,13 +2754,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2778,13 +2778,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2814,13 +2814,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2838,13 +2838,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2862,13 +2862,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -3004,24 +3004,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -3063,13 +3063,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
+      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
@@ -3087,178 +3087,178 @@
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07847939999999998 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
+      <pose>0.07847939999999999 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999998 -0.011812200000000009 -0.001214999999999966"/>
+    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999999 -0.011812200000000009 -0.001214999999999966"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012577000000000005 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.012577000000000012 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000005 -0.04040720000000002 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000012 -0.04040720000000002 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012574999999999996 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012575000000000003 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012574999999999996 0.04040679999999998 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575000000000003 0.04040679999999998 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.01308100000000001 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.013081000000000016 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.01308100000000001 -0.04040720000000002 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000016 -0.04040720000000002 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013078999999999993 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.013079 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999993 0.04040679999999998 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013079 0.04040679999999998 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04200169 0.03156479999999999 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
+      <pose>0.042001689999999994 0.03156479999999999 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.04200169 0.03156479999999999 0.04913199999999998"/>
+    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.042001689999999994 0.03156479999999999 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352114999999999 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352114999999998 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999999 0.007765700000000014 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999998 0.007765700000000014 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053784999999999986 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999998 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429400000000002 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999998 -0.014429400000000002 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.03412954999999999 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412954999999998 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999999 -0.0414999 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999998 -0.0414999 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378499999999999 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.043785 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999999 0.017810999999999994 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043785 0.017810999999999994 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785000000000004 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.04378500000000001 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785000000000004 -0.014191800000000011 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378500000000001 -0.014191800000000011 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.043513791999999996 0.011314499999999963 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04351379199999999 0.011314499999999963 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.043513791999999996 0.011314499999999963 -0.09276499999999999"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351379199999999 0.011314499999999963 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.044503353999999995 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04450335399999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503353999999995 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450335399999999 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05313352999999999 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.053133529999999984 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313352999999999 0.017184099999999994 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133529999999984 0.017184099999999994 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
@@ -3276,25 +3276,25 @@
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915200000000003 0.04274479999999997 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
+      <pose>0.025915199999999996 0.04274479999999997 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.025915200000000003 0.04274479999999997 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915199999999996 0.04274479999999997 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999984 -0.041718700000000025 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
+      <pose>0.018459299999999977 -0.041718700000000025 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999984 -0.041718700000000025 -0.09295800000000004"/>
+    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999977 -0.041718700000000025 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
@@ -3368,45 +3368,45 @@
     <sensor name="l_upper_leg_ft_acc_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_acc_3b12" type="accelerometer">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_hip_2">
     <sensor name="l_upper_leg_ft_gyro_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_gyro_3b12" type="gyroscope">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_acc_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_acc_3b13" type="accelerometer">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_gyro_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_gyro_3b13" type="gyroscope">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
   </sensor>
   <gazebo>
     <pose>0.0 0.0 0.63 0.0 0.0 3.14</pose>
diff --git a/iCub/robots/iCubGazeboV2_7/model.urdf b/iCub/robots/iCubGazeboV2_7/model.urdf
index 5d055d0..3dba975 100644
--- a/iCub/robots/iCubGazeboV2_7/model.urdf
+++ b/iCub/robots/iCubGazeboV2_7/model.urdf
@@ -23,12 +23,12 @@
   </link>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -37,7 +37,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -199,7 +199,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
+    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -213,7 +213,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
+    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -241,7 +241,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
+    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -269,21 +269,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
+    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
+    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
+    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -318,14 +318,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
+    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
+    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -339,21 +339,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
+    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
+    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
+    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -374,14 +374,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
+    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
+    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -402,7 +402,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
+    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -416,7 +416,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
+    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -511,12 +511,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.03360009999999998 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.033600099999999994 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.382866"/>
       <inertia ixx="0.00120946" ixy="3.74585e-07" ixz="-5.78759e-05" iyy="0.00141439" iyz="-7.80325e-06" izz="0.000273599"/>
     </inertial>
     <visual>
-      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -539,14 +539,14 @@
   </joint>
   <link name="r_sole"/>
   <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.003499999999999996 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
+    <origin xyz="0.003500000000000003 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_0"/>
   <joint name="r_sole_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.06047669999999999 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.060476699999999994 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_0"/>
     <dynamics damping="0.1"/>
@@ -560,14 +560,14 @@
   </joint>
   <link name="r_sole_skin_2"/>
   <joint name="r_sole_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.09320869999999998 -0.032368 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.09320869999999999 -0.032368 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_3"/>
   <joint name="r_sole_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.11158309999999996 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.11158309999999998 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_3"/>
     <dynamics damping="0.1"/>
@@ -609,112 +609,112 @@
   </joint>
   <link name="r_sole_skin_12"/>
   <joint name="r_sole_skin_12_fixed_joint" type="fixed">
-    <origin xyz="0.08286799999999997 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.08286799999999998 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_12"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_13"/>
   <joint name="r_sole_skin_13_fixed_joint" type="fixed">
-    <origin xyz="0.10124239999999997 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.10124239999999998 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_13"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_14"/>
   <joint name="r_sole_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05013603999999998 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.050136039999999986 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_14"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_15"/>
   <joint name="r_sole_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.046119189999999984 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.04611918999999999 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_17"/>
   <joint name="r_sole_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.029685499999999997 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.02968549999999999 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_18"/>
   <joint name="r_sole_skin_18_fixed_joint" type="fixed">
-    <origin xyz="-0.04805990000000001 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.0480599 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_18"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_19"/>
   <joint name="r_sole_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.05207670000000001 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.052076700000000004 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_20"/>
   <joint name="r_sole_skin_20_fixed_joint" type="fixed">
-    <origin xyz="-0.037719200000000015 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.03771920000000001 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_21"/>
   <joint name="r_sole_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.03577849999999998 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.03577849999999999 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_21"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_22"/>
   <joint name="r_sole_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.02774479999999999 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.027744799999999997 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_22"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_24"/>
   <joint name="r_sole_skin_24_fixed_joint" type="fixed">
-    <origin xyz="-0.004987200000000004 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.004987199999999997 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_24"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_25"/>
   <joint name="r_sole_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.013387199999999995 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.013387200000000002 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_25"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_26"/>
   <joint name="r_sole_skin_26_fixed_joint" type="fixed">
-    <origin xyz="0.017404099999999985 0.0133722 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.017404099999999992 0.0133722 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_26"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_27"/>
   <joint name="r_sole_skin_27_fixed_joint" type="fixed">
-    <origin xyz="0.0030464999999999798 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.0030464999999999867 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_27"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_28"/>
   <joint name="r_sole_skin_28_fixed_joint" type="fixed">
-    <origin xyz="-0.015327899999999998 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.015327899999999992 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_28"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_29"/>
   <joint name="r_sole_skin_29_fixed_joint" type="fixed">
-    <origin xyz="-0.019344800000000002 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.019344799999999995 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_29"/>
     <dynamics damping="0.1"/>
@@ -938,12 +938,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
+      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.01" iyz="1.19785e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -952,15 +952,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
-    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
+    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -989,7 +989,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
+    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -1026,12 +1026,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="0.01" iyz="3.92498e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1040,7 +1040,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1056,7 +1056,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -1077,7 +1077,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -1086,35 +1086,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1135,14 +1135,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -1170,7 +1170,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -1191,35 +1191,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1254,19 +1254,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="0.01" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="0.01" iyz="-1.59685e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1275,14 +1275,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -1312,7 +1312,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -1358,12 +1358,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
+      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.01" iyz="1.20112e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1372,15 +1372,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
-    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
+    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -1409,7 +1409,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
+    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -1446,7 +1446,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="0.01" iyz="3.9319e-06" izz="0.01"/>
     </inertial>
@@ -1476,7 +1476,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -1497,7 +1497,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -1506,35 +1506,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1555,7 +1555,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -1576,7 +1576,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -1611,35 +1611,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1653,7 +1653,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1674,19 +1674,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="0.01" ixy="3.08362e-08" ixz="9.42153e-07" iyy="0.01" iyz="-1.58924e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1695,14 +1695,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1732,7 +1732,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1748,12 +1748,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1762,7 +1762,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1778,12 +1778,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0011062999999999906 1.7299999999997873e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0011062999999999976 1.730000000001175e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.415987"/>
       <inertia ixx="0.000475741" ixy="2.89355e-07" ixz="-6.72876e-08" iyy="0.000279828" iyz="6.7417e-06" izz="0.000307828"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1792,14 +1792,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
+    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1808,12 +1808,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.00012289999999999524 -0.00028229999999998534 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012290000000000217 -0.0002822999999999992 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="0.01" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="0.01" iyz="3.32338e-08" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1822,26 +1822,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008301999999999893 7.519999999998361e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008301999999999962 7.519999999999749e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868999999999982 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868999999999913 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1850,7 +1850,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1866,7 +1866,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.05125669999999999 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.051256699999999995 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1880,12 +1880,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.000999800000000002 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0009997999999999951 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1894,7 +1894,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1910,12 +1910,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015153099999999996 0.000902 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.015153099999999989 0.0009020000000000139 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447429734460005" ixy="-1.1322603878053663e-06" ixz="3.046651057758992e-05" iyy="0.0004478873540695352" iyz="2.5726583414130826e-06" izz="0.0003076030453774591"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1924,7 +1924,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1940,12 +1940,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011447000000000054 3.5999999999786203e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0011446999999999985 3.599999999992498e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.265122"/>
       <inertia ixx="0.01" ixy="-4.74606e-08" ixz="4.94571e-08" iyy="0.01" iyz="-4.29975e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1954,7 +1954,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1991,7 +1991,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.003499999999999996 0 -0.0605" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.003500000000000003 0 -0.0605" rpy="3.141592653589793 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2674,13 +2674,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2722,13 +2722,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2770,13 +2770,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2794,13 +2794,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2830,13 +2830,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2854,13 +2854,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2878,13 +2878,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -3020,24 +3020,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -3079,13 +3079,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
+      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
@@ -3103,178 +3103,178 @@
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07847939999999998 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
+      <pose>0.07847939999999999 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999998 -0.011812200000000009 -0.001214999999999966"/>
+    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999999 -0.011812200000000009 -0.001214999999999966"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012577000000000005 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.012577000000000012 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000005 -0.04040720000000002 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000012 -0.04040720000000002 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012574999999999996 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012575000000000003 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012574999999999996 0.04040679999999998 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575000000000003 0.04040679999999998 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.01308100000000001 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.013081000000000016 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.01308100000000001 -0.04040720000000002 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000016 -0.04040720000000002 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013078999999999993 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.013079 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999993 0.04040679999999998 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013079 0.04040679999999998 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04200169 0.03156479999999999 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
+      <pose>0.042001689999999994 0.03156479999999999 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.04200169 0.03156479999999999 0.04913199999999998"/>
+    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.042001689999999994 0.03156479999999999 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352114999999999 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352114999999998 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999999 0.007765700000000014 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999998 0.007765700000000014 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053784999999999986 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999998 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429400000000002 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999998 -0.014429400000000002 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.03412954999999999 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412954999999998 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999999 -0.0414999 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999998 -0.0414999 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378499999999999 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.043785 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999999 0.017810999999999994 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043785 0.017810999999999994 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785000000000004 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.04378500000000001 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785000000000004 -0.014191800000000011 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378500000000001 -0.014191800000000011 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.043513791999999996 0.011314499999999963 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04351379199999999 0.011314499999999963 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.043513791999999996 0.011314499999999963 -0.09276499999999999"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351379199999999 0.011314499999999963 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.044503353999999995 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04450335399999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503353999999995 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450335399999999 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05313352999999999 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.053133529999999984 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313352999999999 0.017184099999999994 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133529999999984 0.017184099999999994 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
@@ -3292,25 +3292,25 @@
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915200000000003 0.04274479999999997 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
+      <pose>0.025915199999999996 0.04274479999999997 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.025915200000000003 0.04274479999999997 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915199999999996 0.04274479999999997 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999984 -0.041718700000000025 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
+      <pose>0.018459299999999977 -0.041718700000000025 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999984 -0.041718700000000025 -0.09295800000000004"/>
+    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999977 -0.041718700000000025 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
@@ -3384,45 +3384,45 @@
     <sensor name="l_upper_leg_ft_acc_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_acc_3b12" type="accelerometer">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_hip_2">
     <sensor name="l_upper_leg_ft_gyro_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_gyro_3b12" type="gyroscope">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_acc_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_acc_3b13" type="accelerometer">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_gyro_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_gyro_3b13" type="gyroscope">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
   </sensor>
   <gazebo>
     <pose>0.0 0.0 0.63 0.0 0.0 3.14</pose>
diff --git a/iCub/robots/iCubGazeboV3/model.urdf b/iCub/robots/iCubGazeboV3/model.urdf
index 2c237f0..b1a7b55 100644
--- a/iCub/robots/iCubGazeboV3/model.urdf
+++ b/iCub/robots/iCubGazeboV3/model.urdf
@@ -398,12 +398,12 @@
   </joint>
   <link name="l_shoulder_1">
     <inertial>
-      <origin xyz="0.0002918276617865645 0.05723090680782866 0.0005026028232598713" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
+      <origin xyz="0.0002918276617865645 0.05723090680782866 0.0005026028232598678" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
       <mass value="1.45562"/>
       <inertia ixx="0.01" ixy="0.000611891" ixz="0.000565594" iyy="0.01" iyz="-0.000159546" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.030411223823216205 -0.02914047750374663 0.019095766539677896" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
+      <origin xyz="0.030411223823216205 -0.02914047750374663 0.019095766539677893" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -412,7 +412,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.030411223823216205 -0.02914047750374663 0.019095766539677896" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
+      <origin xyz="0.030411223823216205 -0.02914047750374663 0.019095766539677893" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -420,7 +420,7 @@
   </link>
   <joint name="l_shoulder_pitch" type="revolute">
     <origin xyz="-0.020835100000000002 0.0397423 0.1052029" rpy="0.25326162380993705 -1.1977334179319483e-07 -0.26179930184968747"/>
-    <axis xyz="3.323079797673039e-07 0.9999999783534342 1.4452224303407313e-07"/>
+    <axis xyz="3.323079797554136e-07 0.9999999783534342 1.4452224303420037e-07"/>
     <parent link="chest"/>
     <child link="l_shoulder_1"/>
     <limit effort="50000" lower="-1.53588974175501" upper="0.22689280275926285" velocity="120.0"/>
@@ -428,12 +428,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.0032933620254868984 0.0002563804707528261 -0.027865685757097337" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.003293362025486902 0.0002563804707528261 -0.027865685757097337" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <mass value="0.322126"/>
       <inertia ixx="0.01" ixy="-3.5032e-05" ixz="-2.4436e-05" iyy="0.01" iyz="-5.52877e-05" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.026393097869193412 -0.14153112610649204 -0.007252397644602138" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.026393097869193385 -0.14153112610649207 -0.007252397644602134" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -442,15 +442,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.026393097869193412 -0.14153112610649204 -0.007252397644602138" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.026393097869193385 -0.14153112610649207 -0.007252397644602134" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="0.004992849331690818 0.111499838456099 0.0002686502277366859" rpy="-0.17453296140985 -0.05374759931933852 0"/>
-    <axis xyz="0.9999998262417684 2.0348252649342313e-07 -4.0230228454118944e-08"/>
+    <origin xyz="0.004992849331690818 0.111499838456099 0.00026865022773668243" rpy="-0.17453296140985003 -0.05374759931933849 0"/>
+    <axis xyz="0.9999998262417685 2.0348252625938444e-07 -4.023022846062156e-08"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.20943951023931956" upper="2.792526803190927" velocity="120.0"/>
@@ -458,12 +458,12 @@
   </joint>
   <link name="l_shoulder_3">
     <inertial>
-      <origin xyz="-4.41626402200232e-06 9.587749727052453e-05 -0.007326213473011087" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="-4.416264022005789e-06 9.587749727052453e-05 -0.007326213473011087" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <mass value="0.256128"/>
       <inertia ixx="0.01" ixy="-3.76336e-07" ixz="2.93189e-06" iyy="0.01" iyz="-3.52325e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.03074323102617175 -0.14153148936381543 0.047047641079459586" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.030743231026171717 -0.14153148936381543 0.04704764107945959" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -472,26 +472,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.03074323102617175 -0.14153148936381543 0.047047641079459586" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.030743231026171717 -0.14153148936381543 0.04704764107945959" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_arm_ft_sensor" type="fixed">
-    <origin xyz="-0.004350133156978329 3.632573233880443e-07 -0.05430003872406172" rpy="0 0 0"/>
+    <origin xyz="-0.004350133156978318 3.632573233602887e-07 -0.05430003872406172" rpy="0 0 0"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_arm">
     <inertial>
-      <origin xyz="-4.828549686676509e-06 0.0019434824578757927 -0.04747357946817407" rpy="-0.062128608300921935 0.07142689081245782 0.27099931149673573"/>
+      <origin xyz="-4.828549686676509e-06 0.0019434824578758204 -0.04747357946817407" rpy="-0.06212860830092193 0.0714268908124578 0.27099931149673545"/>
       <mass value="2.06334"/>
       <inertia ixx="0.00368146" ixy="-5.03894e-06" ixz="0.000261155" iyy="0.00382639" iyz="0.000205684" izz="0.00167002"/>
     </inertial>
     <visual>
-      <origin xyz="0.030743149468679242 -0.14153106591133105 0.06954758245258398" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.030743149468679207 -0.14153106591133105 0.06954758245258398" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -500,15 +500,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.030743149468679242 -0.14153106591133105 0.06954758245258398" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.030743149468679207 -0.14153106591133105 0.06954758245258398" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0 -4.2345248449371375e-07 -0.02249994137312443" rpy="0 0 0"/>
-    <axis xyz="2.227647404040578e-08 -4.393786245948661e-08 -1.0000002566182309"/>
+    <origin xyz="0 -4.2345248449371375e-07 -0.022499941373124423" rpy="0 0 0"/>
+    <axis xyz="2.2276474049102235e-08 -4.393786247302041e-08 -1.0000002566182309"/>
     <parent link="l_shoulder_3"/>
     <child link="l_upper_arm"/>
     <limit effort="50000" lower="-0.8726646259971648" upper="1.3962634015954636" velocity="120.0"/>
@@ -516,12 +516,12 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="-0.010241946078109292 0.0018224069895867168 -0.01508962025855548" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="-0.010241946078109288 0.0018224069895867168 -0.015089620258555453" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <mass value="0.230254"/>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_elbow_1_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -530,7 +530,7 @@
       </material>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_elbow_1_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -538,7 +538,7 @@
   </link>
   <joint name="l_elbow" type="revolute">
     <origin xyz="0.009999930234919404 -0.001499647423428896 -0.12370033753758375" rpy="0 0 0"/>
-    <axis xyz="-8.811824154381087e-08 -1.0000002733514628 4.4047361189014644e-08"/>
+    <axis xyz="-8.811824174789715e-08 -1.0000002733514628 4.404736120498342e-08"/>
     <parent link="l_upper_arm"/>
     <child link="l_elbow_1"/>
     <limit effort="50000" lower="-0.05235987755982989" upper="1.3089969389957472" velocity="120.0"/>
@@ -546,12 +546,12 @@
   </joint>
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-      <origin xyz="-0.006269874102298061 -4.68551245806359e-05 -0.030648347755607153" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_forearm_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -560,15 +560,15 @@
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       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_forearm_prt.stl" scale="0.001 0.001 0.001"/>
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   <joint name="l_wrist_prosup" type="revolute">
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-    <axis xyz="2.227647404040578e-08 -4.393786245948661e-08 -1.0000002566182309"/>
+    <origin xyz="-0.0149998706541777 0.0019996435036348514 -0.0553000635824798" rpy="0 0 0"/>
+    <axis xyz="2.2276474049102235e-08 -4.393786247302041e-08 -1.0000002566182309"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
     <limit effort="50000" lower="-1.53588974175501" upper="1.53588974175501" velocity="120.0"/>
@@ -576,12 +576,12 @@
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.014390150453737368 -0.0005083960996520587 -9.893035257668714e-05" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="-0.014390150453737368 -0.0005083960996520864 -9.893035257668714e-05" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
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+      <origin xyz="0.019143073953651328 -0.1440379572096098 0.3560476247151885" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -590,15 +590,15 @@
       </material>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
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   <joint name="l_wrist_pitch" type="revolute">
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-    <axis xyz="-0.9999998262417684 -2.0348252649342313e-07 4.0230228454118944e-08"/>
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+    <axis xyz="-0.9999998262417685 -2.0348252625938444e-07 4.023022846062156e-08"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
     <limit effort="50000" lower="-1.2217304763960306" upper="0.4363323129985824" velocity="120.0"/>
@@ -606,12 +606,12 @@
   </joint>
   <link name="l_hand">
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+      <origin xyz="0.035443195698380774 -0.13703856452803848 0.35604770325391955" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_hand_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -620,15 +620,15 @@
       </material>
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   <joint name="l_wrist_yaw" type="revolute">
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-    <axis xyz="8.811824154381087e-08 1.0000002733514628 -4.4047361189014644e-08"/>
+    <origin xyz="-0.016300121744729387 -0.006999392681571209 0" rpy="0 0 0"/>
+    <axis xyz="8.811824174789715e-08 1.0000002733514628 -4.404736120498342e-08"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
     <limit effort="50000" lower="-0.2617993877991494" upper="0.6108652381980153" velocity="120.0"/>
@@ -658,7 +658,7 @@
   </link>
   <joint name="r_shoulder_pitch" type="revolute">
     <origin xyz="-0.020835100000000002 -0.0397423 0.1052029" rpy="-0.25326164431680925 2.3014774394592079e-07 0.26179970938509745"/>
-    <axis xyz="1.499044390054707e-07 0.9999999783534812 -1.2401537036188515e-07"/>
+    <axis xyz="1.499044390098182e-07 0.9999999783534812 -1.2401537036323317e-07"/>
     <parent link="chest"/>
     <child link="r_shoulder_1"/>
     <limit effort="50000" lower="-1.53588974175501" upper="0.22689280275926285" velocity="120.0"/>
@@ -666,12 +666,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="0.0007118441514370015 -0.0002899713150672778 -0.027865575116629175" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.000711844151437005 -0.00028997131506725005 -0.027865575116629175" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -680,15 +680,15 @@
       </material>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
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   <joint name="r_shoulder_roll" type="revolute">
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+    <origin xyz="0.007489008185044645 -0.11150041046657978 0.0004027858966975245" rpy="0.17453306234069352 -0.05374779257913059 -6.132332688804098e-07"/>
+    <axis xyz="-0.9999998262417886 4.210501434612913e-08 2.4630481182686846e-08"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.20943951023931956" upper="2.792526803190927" velocity="120.0"/>
@@ -696,12 +696,12 @@
   </joint>
   <link name="r_shoulder_3">
     <inertial>
-      <origin xyz="-8.928496484206933e-05 -3.376971940446949e-05 -0.00759450025288725" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="-8.928496484206933e-05 -3.376971940446949e-05 -0.007594500252887257" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -710,26 +710,26 @@
       </material>
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   <joint name="r_arm_ft_sensor" type="fixed">
-    <origin xyz="-0.006849946385389875 2.1904996055921444e-07 -0.05429998157789099" rpy="0 0 0"/>
+    <origin xyz="-0.006849946385389872 2.1904996058697002e-07 -0.05429998157789099" rpy="0 0 0"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
     <dynamics damping="0.1"/>
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@@ -738,15 +738,15 @@
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   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="0 4.2183273077367467e-07 -0.022499941373153573" rpy="0 0 0"/>
-    <axis xyz="-3.787621790513063e-08 2.805197706068352e-08 1.0000002566182309"/>
+    <origin xyz="0 4.2183273077367467e-07 -0.02249994137315358" rpy="0 0 0"/>
+    <axis xyz="-3.787621790776764e-08 2.805197706023475e-08 1.0000002566182309"/>
     <parent link="r_shoulder_3"/>
     <child link="r_upper_arm"/>
     <limit effort="50000" lower="-0.8726646259971648" upper="1.3962634015954636" velocity="120.0"/>
@@ -754,12 +754,12 @@
   </joint>
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@@ -768,15 +768,15 @@
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   <joint name="r_elbow" type="revolute">
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-    <axis xyz="2.4949582809984105e-07 -1.0000002733514362 2.7942487004772865e-08"/>
+    <origin xyz="0.00999993192260382 0.0014996401320274133 -0.1237003374895465" rpy="0 0 0"/>
+    <axis xyz="2.4949582807394525e-07 -1.0000002733514362 2.7942487010105877e-08"/>
     <parent link="r_upper_arm"/>
     <child link="r_elbow_1"/>
     <limit effort="50000" lower="-0.05235987755982989" upper="1.3089969389957472" velocity="120.0"/>
@@ -805,8 +805,8 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
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+    <origin xyz="-0.014999869468812953 -0.0019996499053189787 -0.05530006367251966" rpy="0 0 0"/>
+    <axis xyz="-3.787621790776764e-08 2.805197706023475e-08 1.0000002566182309"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
     <limit effort="50000" lower="-1.53588974175501" upper="1.53588974175501" velocity="120.0"/>
@@ -814,12 +814,12 @@
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="-0.014389827079018234 0.0005092753390522065 -9.787315764231419e-05" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="-0.014389827079018234 0.0005092753390521787 -9.78731576423697e-05" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <mass value="0.0344005"/>
       <inertia ixx="0.01" ixy="9.19776e-07" ixz="1.47559e-08" iyy="0.01" iyz="-1.11493e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.019443109736078983 0.1440385285434042 0.35604805361754455" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.019443109736078983 0.14403852854340418 0.3560480536175445" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -828,7 +828,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.019443109736078983 0.1440385285434042 0.35604805361754455" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.019443109736078983 0.14403852854340418 0.3560480536175445" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -836,7 +836,7 @@
   </link>
   <joint name="r_wrist_pitch" type="revolute">
     <origin xyz="0.016299953353948633 -0.002007442890811839 -0.10750007971210637" rpy="0 0 0"/>
-    <axis xyz="0.9999998262417886 -4.2105014356162707e-08 -2.4630481189336084e-08"/>
+    <axis xyz="0.9999998262417886 -4.210501434612913e-08 -2.4630481182686846e-08"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
     <limit effort="50000" lower="-1.2217304763960306" upper="0.4363323129985824" velocity="120.0"/>
@@ -844,12 +844,12 @@
   </joint>
   <link name="r_hand">
     <inertial>
-      <origin xyz="0.004828314385249662 0.00615667237451184 -0.0671378028889843" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.004828314385249669 0.00615667237451184 -0.0671378028889843" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <mass value="0.264229"/>
       <inertia ixx="0.01" ixy="4.7873e-05" ixz="1.1114e-05" iyy="0.01" iyz="1.14469e-05" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.03574323261035171 0.1370391384923124 0.35604813291443793" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.03574323261035172 0.1370391384923124 0.35604813291443793" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_hand_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -858,15 +858,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.03574323261035171 0.1370391384923124 0.35604813291443793" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.03574323261035172 0.1370391384923124 0.35604813291443793" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_hand_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="continuous">
-    <origin xyz="-0.016300122874272734 0.0069993900510918194 0" rpy="0 0 0"/>
-    <axis xyz="-2.4949582809984105e-07 1.0000002733514362 -2.7942487004772865e-08"/>
+    <origin xyz="-0.016300122874272734 0.006999390051091792 0" rpy="0 0 0"/>
+    <axis xyz="-2.4949582807394525e-07 1.0000002733514362 -2.7942487010105877e-08"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
     <dynamics damping="0.1"/>
@@ -1524,7 +1524,7 @@
         <frame>sensor</frame>
         <measure_direction>child_to_parent</measure_direction>
       </force_torque>
-      <pose>-0.004350133156978329 3.632573233880443e-07 -0.05430003872406172 3.141592646862139 -3.104683320142575e-08 -1.5707962571980942</pose>
+      <pose>-0.004350133156978318 3.632573233602887e-07 -0.05430003872406172 3.141592646862139 -3.10468332187885e-08 -1.5707962571980942</pose>
       <plugin name="left_arm_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
   <yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_left_arm_ft.ini</yarpConfigurationFile>
 </plugin>
@@ -1536,7 +1536,7 @@
       <frame>sensor</frame>
       <measure_direction>child_to_parent</measure_direction>
     </force_torque>
-    <origin rpy="3.141592646862139 -3.104683320142575e-08 -1.5707962571980942" xyz="-0.004350133156978329 3.632573233880443e-07 -0.05430003872406172"/>
+    <origin rpy="3.141592646862139 -3.10468332187885e-08 -1.5707962571980942" xyz="-0.004350133156978318 3.632573233602887e-07 -0.05430003872406172"/>
   </sensor>
   <gazebo reference="r_arm_ft_sensor">
     <sensor name="r_arm_ft_sensor" type="force_torque">
@@ -1546,7 +1546,7 @@
         <frame>sensor</frame>
         <measure_direction>child_to_parent</measure_direction>
       </force_torque>
-      <pose>-0.006849946385389875 2.1904996055921444e-07 -0.05429998157789099 3.141592644717707 4.094299285979593e-08 1.5707964185756365</pose>
+      <pose>-0.006849946385389872 2.1904996058697002e-07 -0.05429998157789099 3.141592644717707 4.094299285979593e-08 1.5707964185756365</pose>
       <plugin name="right_arm_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
   <yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_right_arm_ft.ini</yarpConfigurationFile>
 </plugin>
@@ -1558,7 +1558,7 @@
       <frame>sensor</frame>
       <measure_direction>child_to_parent</measure_direction>
     </force_torque>
-    <origin rpy="3.141592644717707 4.094299285979593e-08 1.5707964185756365" xyz="-0.006849946385389875 2.1904996055921444e-07 -0.05429998157789099"/>
+    <origin rpy="3.141592644717707 4.094299285979593e-08 1.5707964185756365" xyz="-0.006849946385389872 2.1904996058697002e-07 -0.05429998157789099"/>
   </sensor>
   <gazebo reference="l_foot_front_ft_sensor">
     <sensor name="l_foot_front_ft_sensor" type="force_torque">
diff --git a/iCub/robots/iCubGenova01/model.urdf b/iCub/robots/iCubGenova01/model.urdf
index 1acd7d5..676aece 100644
--- a/iCub/robots/iCubGenova01/model.urdf
+++ b/iCub/robots/iCubGenova01/model.urdf
@@ -23,12 +23,12 @@
   </link>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -37,7 +37,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -199,7 +199,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
+    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -213,7 +213,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
+    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -241,7 +241,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
+    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -269,21 +269,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
+    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
+    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
+    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -318,14 +318,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
+    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
+    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -339,21 +339,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
+    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
+    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
+    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -374,14 +374,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
+    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
+    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -402,7 +402,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
+    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -416,7 +416,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
+    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -511,12 +511,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.03360009999999998 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.033600099999999994 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.382866"/>
       <inertia ixx="0.00120946" ixy="3.74585e-07" ixz="-5.78759e-05" iyy="0.00141439" iyz="-7.80325e-06" izz="0.000273599"/>
     </inertial>
     <visual>
-      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -525,7 +525,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -539,14 +539,14 @@
   </joint>
   <link name="r_sole"/>
   <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.003499999999999996 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
+    <origin xyz="0.003500000000000003 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_0"/>
   <joint name="r_sole_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.06047669999999999 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.060476699999999994 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_0"/>
     <dynamics damping="0.1"/>
@@ -560,14 +560,14 @@
   </joint>
   <link name="r_sole_skin_2"/>
   <joint name="r_sole_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.09320869999999998 -0.032368 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.09320869999999999 -0.032368 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_3"/>
   <joint name="r_sole_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.11158309999999996 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.11158309999999998 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_3"/>
     <dynamics damping="0.1"/>
@@ -609,112 +609,112 @@
   </joint>
   <link name="r_sole_skin_12"/>
   <joint name="r_sole_skin_12_fixed_joint" type="fixed">
-    <origin xyz="0.08286799999999997 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.08286799999999998 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_12"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_13"/>
   <joint name="r_sole_skin_13_fixed_joint" type="fixed">
-    <origin xyz="0.10124239999999997 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.10124239999999998 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_13"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_14"/>
   <joint name="r_sole_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05013603999999998 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.050136039999999986 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_14"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_15"/>
   <joint name="r_sole_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.046119189999999984 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.04611918999999999 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_17"/>
   <joint name="r_sole_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.029685499999999997 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.02968549999999999 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_18"/>
   <joint name="r_sole_skin_18_fixed_joint" type="fixed">
-    <origin xyz="-0.04805990000000001 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.0480599 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_18"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_19"/>
   <joint name="r_sole_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.05207670000000001 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.052076700000000004 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_20"/>
   <joint name="r_sole_skin_20_fixed_joint" type="fixed">
-    <origin xyz="-0.037719200000000015 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.03771920000000001 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_21"/>
   <joint name="r_sole_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.03577849999999998 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.03577849999999999 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_21"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_22"/>
   <joint name="r_sole_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.02774479999999999 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.027744799999999997 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_22"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_24"/>
   <joint name="r_sole_skin_24_fixed_joint" type="fixed">
-    <origin xyz="-0.004987200000000004 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.004987199999999997 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_24"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_25"/>
   <joint name="r_sole_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.013387199999999995 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.013387200000000002 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_25"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_26"/>
   <joint name="r_sole_skin_26_fixed_joint" type="fixed">
-    <origin xyz="0.017404099999999985 0.0133722 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.017404099999999992 0.0133722 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_26"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_27"/>
   <joint name="r_sole_skin_27_fixed_joint" type="fixed">
-    <origin xyz="0.0030464999999999798 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.0030464999999999867 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_27"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_28"/>
   <joint name="r_sole_skin_28_fixed_joint" type="fixed">
-    <origin xyz="-0.015327899999999998 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.015327899999999992 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_28"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_29"/>
   <joint name="r_sole_skin_29_fixed_joint" type="fixed">
-    <origin xyz="-0.019344800000000002 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.019344799999999995 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_29"/>
     <dynamics damping="0.1"/>
@@ -938,12 +938,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
+      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000158626" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.000206526" iyz="1.19785e-06" izz="0.000104956"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -952,15 +952,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
-    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
+    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -989,7 +989,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
+    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -1026,12 +1026,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13344e-05" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="5.86947e-05" iyz="3.92498e-06" izz="9.68353e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1040,7 +1040,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1056,7 +1056,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -1077,7 +1077,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -1086,35 +1086,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1135,14 +1135,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -1170,7 +1170,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -1191,35 +1191,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1254,19 +1254,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="5.57722e-06" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="5.29845e-06" iyz="-1.59685e-07" izz="1.87724e-06"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1275,14 +1275,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -1312,7 +1312,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -1358,12 +1358,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
+      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000159621" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.000222574" iyz="1.20112e-06" izz="0.000120056"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1372,15 +1372,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
-    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
+    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -1409,7 +1409,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
+    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -1446,7 +1446,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13352e-05" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="5.86823e-05" iyz="3.9319e-06" izz="9.68469e-05"/>
     </inertial>
@@ -1476,7 +1476,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -1497,7 +1497,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -1506,35 +1506,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1555,7 +1555,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -1576,7 +1576,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -1611,35 +1611,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1653,7 +1653,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1674,19 +1674,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="5.56774e-06" ixy="3.08362e-08" ixz="9.42153e-07" iyy="5.28838e-06" iyz="-1.58924e-07" izz="1.87579e-06"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1695,14 +1695,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1732,7 +1732,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1748,12 +1748,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1762,7 +1762,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1778,12 +1778,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0011062999999999906 1.7299999999997873e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0011062999999999976 1.730000000001175e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.415987"/>
       <inertia ixx="0.000475741" ixy="2.89355e-07" ixz="-6.72876e-08" iyy="0.000279828" iyz="6.7417e-06" izz="0.000307828"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1792,14 +1792,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
+    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1808,12 +1808,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.00012289999999999524 -0.00028229999999998534 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012290000000000217 -0.0002822999999999992 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="3.27938e-05" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="5.69957e-05" iyz="3.32338e-08" izz="3.26449e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1822,26 +1822,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008301999999999893 7.519999999998361e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008301999999999962 7.519999999999749e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868999999999982 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868999999999913 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1850,7 +1850,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1866,7 +1866,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.05125669999999999 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.051256699999999995 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1880,12 +1880,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.000999800000000002 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0009997999999999951 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1894,7 +1894,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1910,12 +1910,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015153099999999996 0.000902 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.015153099999999989 0.0009020000000000139 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447429734460005" ixy="-1.1322603878053663e-06" ixz="3.046651057758992e-05" iyy="0.0004478873540695352" iyz="2.5726583414130826e-06" izz="0.0003076030453774591"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1924,7 +1924,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1940,12 +1940,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011447000000000054 3.5999999999786203e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0011446999999999985 3.599999999992498e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.265122"/>
       <inertia ixx="0.000327222" ixy="-4.74606e-08" ixz="4.94571e-08" iyy="0.000248285" iyz="-4.29975e-06" izz="0.000150937"/>
     </inertial>
     <visual>
-      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1954,7 +1954,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1991,7 +1991,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.003499999999999996 0 -0.0605" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.003500000000000003 0 -0.0605" rpy="3.141592653589793 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2658,13 +2658,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2706,13 +2706,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2754,13 +2754,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2778,13 +2778,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2814,13 +2814,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2838,13 +2838,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2862,13 +2862,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -3004,24 +3004,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -3063,13 +3063,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
+      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
@@ -3087,178 +3087,178 @@
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07847939999999998 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
+      <pose>0.07847939999999999 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999998 -0.011812200000000009 -0.001214999999999966"/>
+    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999999 -0.011812200000000009 -0.001214999999999966"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012577000000000005 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.012577000000000012 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000005 -0.04040720000000002 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000012 -0.04040720000000002 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012574999999999996 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012575000000000003 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012574999999999996 0.04040679999999998 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575000000000003 0.04040679999999998 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.01308100000000001 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.013081000000000016 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.01308100000000001 -0.04040720000000002 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000016 -0.04040720000000002 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013078999999999993 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.013079 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999993 0.04040679999999998 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013079 0.04040679999999998 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04200169 0.03156479999999999 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
+      <pose>0.042001689999999994 0.03156479999999999 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.04200169 0.03156479999999999 0.04913199999999998"/>
+    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.042001689999999994 0.03156479999999999 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352114999999999 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352114999999998 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999999 0.007765700000000014 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999998 0.007765700000000014 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053784999999999986 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999998 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429400000000002 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999998 -0.014429400000000002 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.03412954999999999 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412954999999998 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999999 -0.0414999 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999998 -0.0414999 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378499999999999 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.043785 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999999 0.017810999999999994 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043785 0.017810999999999994 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785000000000004 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.04378500000000001 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785000000000004 -0.014191800000000011 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378500000000001 -0.014191800000000011 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.043513791999999996 0.011314499999999963 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04351379199999999 0.011314499999999963 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.043513791999999996 0.011314499999999963 -0.09276499999999999"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351379199999999 0.011314499999999963 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.044503353999999995 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04450335399999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503353999999995 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450335399999999 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05313352999999999 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.053133529999999984 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313352999999999 0.017184099999999994 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133529999999984 0.017184099999999994 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
@@ -3276,25 +3276,25 @@
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915200000000003 0.04274479999999997 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
+      <pose>0.025915199999999996 0.04274479999999997 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.025915200000000003 0.04274479999999997 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915199999999996 0.04274479999999997 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999984 -0.041718700000000025 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
+      <pose>0.018459299999999977 -0.041718700000000025 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999984 -0.041718700000000025 -0.09295800000000004"/>
+    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999977 -0.041718700000000025 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
@@ -3368,45 +3368,45 @@
     <sensor name="l_upper_leg_ft_acc_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_acc_3b12" type="accelerometer">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_hip_2">
     <sensor name="l_upper_leg_ft_gyro_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_gyro_3b12" type="gyroscope">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_acc_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_acc_3b13" type="accelerometer">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_gyro_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_gyro_3b13" type="gyroscope">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
   </sensor>
   <gazebo>
     <pose>0.0 0.0 0.63 0.0 0.0 3.14</pose>
diff --git a/iCub/robots/iCubGenova02/model.urdf b/iCub/robots/iCubGenova02/model.urdf
index 612b79d..188d3d3 100644
--- a/iCub/robots/iCubGenova02/model.urdf
+++ b/iCub/robots/iCubGenova02/model.urdf
@@ -247,12 +247,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
+      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000158626" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.000206526" iyz="1.19785e-06" izz="0.000104956"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -261,15 +261,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
-    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
+    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -298,7 +298,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
+    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -335,12 +335,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13344e-05" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="5.86947e-05" iyz="3.92498e-06" izz="9.68353e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -349,7 +349,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -365,7 +365,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -386,7 +386,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -395,35 +395,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -444,14 +444,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -479,7 +479,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -500,35 +500,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -542,7 +542,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -563,19 +563,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="5.57722e-06" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="5.29845e-06" iyz="-1.59685e-07" izz="1.87724e-06"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -584,14 +584,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -621,7 +621,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -667,12 +667,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
+      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000159621" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.000222574" iyz="1.20112e-06" izz="0.000120056"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -681,15 +681,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
-    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
+    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -718,7 +718,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
+    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -755,7 +755,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13352e-05" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="5.86823e-05" iyz="3.9319e-06" izz="9.68469e-05"/>
     </inertial>
@@ -785,7 +785,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -806,7 +806,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -815,35 +815,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -864,7 +864,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -885,7 +885,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -920,35 +920,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -962,7 +962,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -983,19 +983,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="5.56774e-06" ixy="3.08362e-08" ixz="9.42153e-07" iyy="5.28838e-06" iyz="-1.58924e-07" izz="1.87579e-06"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1004,14 +1004,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1041,7 +1041,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1057,12 +1057,12 @@
   </joint>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1071,7 +1071,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.058310299999999995 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
+    <origin xyz="0.058310299999999995 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1247,7 +1247,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208552 0.03044339999999998 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
+    <origin xyz="0.05208552 0.03044339999999998 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -1275,7 +1275,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999999 -0.03117600000000001 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
+    <origin xyz="0.05504769999999999 -0.03117600000000001 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -1303,21 +1303,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.035753400000000005 0.04106279999999999 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
+    <origin xyz="0.035753400000000005 0.04106279999999999 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.023441900000000012 0.04799079999999998 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
+    <origin xyz="0.023441900000000012 0.04799079999999998 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.02427040000000001 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
+    <origin xyz="0.02427040000000001 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -1352,14 +1352,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.047748659999999984 -0.031231999999999996 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
+    <origin xyz="0.047748659999999984 -0.031231999999999996 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322408999999999 -0.01560180000000004 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
+    <origin xyz="0.05322408999999999 -0.01560180000000004 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -1373,21 +1373,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880466999999999 -0.031263 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
+    <origin xyz="0.04880466999999999 -0.031263 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999999 -0.01591290000000002 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
+    <origin xyz="0.05660089999999999 -0.01591290000000002 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.057010599999999995 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
+    <origin xyz="0.057010599999999995 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -1408,14 +1408,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641629999999995 0.01763889999999997 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
+    <origin xyz="0.052641629999999995 0.01763889999999997 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113137 0.032438499999999953 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
+    <origin xyz="0.04113137 0.032438499999999953 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -1436,7 +1436,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998319999999995 0.0012663999999999592 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
+    <origin xyz="0.052998319999999995 0.0012663999999999592 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -1450,7 +1450,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127079999999986 -0.030749000000000026 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
+    <origin xyz="0.045127079999999986 -0.030749000000000026 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -1485,12 +1485,12 @@
   </joint>
   <link name="r_ankle_1">
     <inertial>
-      <origin xyz="0.015143405473968821 -0.0008685000000000082 4.2859082720503316e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.015143405473968807 -0.0008685000000000082 4.2859082720503316e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.6803"/>
       <inertia ixx="0.0004046207392315529" ixy="8.523488844593136e-06" ixz="-2.8913590319053794e-05" iyy="0.0004379396781535379" iyz="3.7330395179426065e-05" izz="0.00031892819418424145"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272424511754 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424511755 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1499,7 +1499,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272424511754 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424511755 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1515,12 +1515,12 @@
   </joint>
   <link name="r_ankle_2">
     <inertial>
-      <origin xyz="0.0011452157753235187 -8.299999999988872e-06 -0.038511854107377785" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.0011452157753235048 -8.299999999988872e-06 -0.038511854107377785" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.265337"/>
       <inertia ixx="0.000327646" ixy="-7.94989e-08" ixz="8.24551e-09" iyy="0.000244632" iyz="2.0701e-05" izz="0.000155777"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272442308744 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442308745 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1529,7 +1529,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272442308744 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442308745 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1537,7 +1537,7 @@
   </link>
   <joint name="r_ankle_roll" type="revolute">
     <origin xyz="0 0 0" rpy="0 0 0"/>
-    <axis xyz="-1.0000001561184808 -6.013654019199066e-16 1.1979394973216095e-07"/>
+    <axis xyz="-1.0000001561184808 -6.013654019199066e-16 1.197939497389039e-07"/>
     <parent link="r_ankle_1"/>
     <child link="r_ankle_2"/>
     <limit effort="37.0" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="7.64"/>
@@ -1545,12 +1545,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.039779742643594365 0.004553699994905444 -0.006311816589999797" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
+      <origin xyz="0.039779742643594365 0.004553699994905444 -0.006311816589999797" rpy="-1.832595507822573 0 -1.5707963267948983"/>
       <mass value="0.357881"/>
       <inertia ixx="0.00109611" ixy="-2.9193e-07" ixz="-3.70109e-05" iyy="0.00125706" iyz="5.10952e-06" izz="0.000215359"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
+      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.832595507822573 0 -1.5707963267948983"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1559,14 +1559,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
+      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.832595507822573 0 -1.5707963267948983"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.0034999280659716026 0 -0.060500343280208146" rpy="3.141592652417863 0 0"/>
+    <origin xyz="-0.0034999280659716164 0 -0.060500343280208146" rpy="3.141592652417863 0 0"/>
     <parent link="r_ankle_2"/>
     <child link="r_foot"/>
     <dynamics damping="0.1"/>
@@ -1580,12 +1580,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1594,7 +1594,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1610,12 +1610,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0015761999999999929 -1.940000000000275e-05 -0.04405299999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0015761999999999998 -1.939999999998887e-05 -0.04405299999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.421106"/>
       <inertia ixx="0.000494284" ixy="1.5483e-07" ixz="-1.86308e-07" iyy="0.000288736" iyz="1.52962e-05" izz="0.000319008"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1624,14 +1624,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
+    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1640,12 +1640,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.00012299999999999117 -0.0002823000000000131 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.0001229999999999981 -0.000282300000000027 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="3.27938e-05" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="5.69957e-05" iyz="3.32338e-08" izz="3.26449e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.043708999809320984 0.07010000000001014 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370899980932098 0.07010000000001013 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1654,26 +1654,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.043708999809320984 0.07010000000001014 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370899980932098 0.07010000000001013 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008574999999999972 0 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008575000000000041 0 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868000000000092 0.00010179999999999911 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868000000000023 0.00010179999999999911 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.043708999809320984 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980932098 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1682,7 +1682,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.043708999809320984 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980932098 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1698,7 +1698,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.051256699999999975 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.05125669999999998 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1712,12 +1712,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.000999700000000013 0.0034968999999999834 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0009997000000000061 0.0034968999999999834 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370899980931699 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980931698 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1726,7 +1726,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370899980931699 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980931698 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1742,12 +1742,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015152971856010347 0.0009021000000000029 4.2316556559285345e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.015152971856010333 0.0009021000000000029 4.2316556559285345e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447618553062084" ixy="-8.97867775831874e-06" ixz="2.9134846047326194e-05" iyy="0.00043720150287133953" iyz="3.730206268073148e-05" izz="0.00031828795462876227"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272424516862 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424516864 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1756,7 +1756,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272424516862 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424516864 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1772,12 +1772,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011452157753235465 -8.299999999974994e-06 -0.038511854107377674" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.0011452157753235326 -8.299999999974994e-06 -0.038511854107377674" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.265337"/>
       <inertia ixx="0.000327646" ixy="-7.94989e-08" ixz="8.24551e-09" iyy="0.000244632" iyz="2.0701e-05" izz="0.000155777"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272442313177 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442313178 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1786,7 +1786,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272442313177 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442313178 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1794,7 +1794,7 @@
   </link>
   <joint name="l_ankle_roll" type="revolute">
     <origin xyz="0 0 0" rpy="0 0 0"/>
-    <axis xyz="1.0000001561184808 6.013654019199066e-16 -1.1979394973216095e-07"/>
+    <axis xyz="1.0000001561184808 6.013654019199066e-16 -1.197939497389039e-07"/>
     <parent link="l_ankle_1"/>
     <child link="l_ankle_2"/>
     <limit effort="37.0" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="7.64"/>
@@ -1823,7 +1823,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.0034999280659716026 0 -0.060500343280208146" rpy="-3.141592643239301 0 0"/>
+    <origin xyz="-0.0034999280659716164 0 -0.060500343280208146" rpy="-3.141592643239301 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2315,13 +2315,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2363,13 +2363,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2411,13 +2411,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2435,13 +2435,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2471,13 +2471,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2495,13 +2495,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2519,13 +2519,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -2661,24 +2661,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351373 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04351373 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351373 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351373 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.044503292 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.044503292 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503292 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.044503292 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -2696,13 +2696,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0537517 0.01572289999999999 -0.0043179999999999885 -1.5707962918765586 -1.5706802104434696 -1.2217307215014315</pose>
+      <pose>0.0537517 0.01572289999999999 -0.0043179999999999885 -1.5707962918786202 -1.5706802104434698 -1.221730721500941</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707962918765586 -1.5706802104434696 -1.2217307215014315" xyz="0.0537517 0.01572289999999999 -0.0043179999999999885"/>
+    <origin rpy="-1.5707962918786202 -1.5706802104434698 -1.221730721500941" xyz="0.0537517 0.01572289999999999 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b10" type="imu">
@@ -2720,238 +2720,238 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.01648010000000001 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
+      <pose>0.01648010000000001 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.01648010000000001 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.01648010000000001 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.11154352975660221 -0.00081220000825033 -0.022848096181402044 -0.2617991810276566 7.344347213722464e-08 -1.5707960526999072</pose>
+      <pose>0.11154352975660221 -0.00081220000825033 -0.022848096181402044 -0.26179918102765654 7.344347216498023e-08 -1.570796052699907</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b12" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="-0.2617991810276566 7.344347213722464e-08 -1.5707960526999072" xyz="0.11154352975660221 -0.00081220000825033 -0.022848096181402044"/>
+    <origin rpy="-0.26179918102765654 7.344347216498023e-08 -1.570796052699907" xyz="0.11154352975660221 -0.00081220000825033 -0.022848096181402044"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.08739538274799673 -0.011812200008250326 -0.016377625097255266 -0.26179918102766675 1.5543122344752188e-15 -1.5707963267948986</pose>
+      <pose>0.08739538274799673 -0.011812200008250326 -0.016377625097255266 -0.26179918102766664 1.6098233857064772e-15 -1.5707963267948981</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="-0.26179918102766675 1.5543122344752188e-15 -1.5707963267948986" xyz="0.08739538274799673 -0.011812200008250326 -0.016377625097255266"/>
+    <origin rpy="-0.26179918102766664 1.6098233857064772e-15 -1.5707963267948981" xyz="0.08739538274799673 -0.011812200008250326 -0.016377625097255266"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012577099999999994 -0.040407200000000004 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.0125771 -0.040407200000000004 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577099999999994 -0.040407200000000004 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.0125771 -0.040407200000000004 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012575099999999985 0.040407 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012575099999999992 0.040407 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575099999999985 0.040407 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575099999999992 0.040407 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013080999999999995 -0.040407200000000004 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.013081000000000002 -0.040407200000000004 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013080999999999995 -0.040407200000000004 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000002 -0.040407200000000004 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.01307899999999998 0.040407 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.013078999999999986 0.040407 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.01307899999999998 0.040407 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999986 0.040407 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.042001630000000005 0.03156500000000001 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
+      <pose>0.04200163 0.03156500000000001 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.042001630000000005 0.03156500000000001 0.04913199999999998"/>
+    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.04200163 0.03156500000000001 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352109 0.007765700000000028 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352108999999999 0.007765700000000028 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352109 0.007765700000000028 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352108999999999 0.007765700000000028 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053785 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053785 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999999 -0.014429399999999995 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053784999999999986 -0.014429399999999995 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 -0.014429399999999995 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429399999999995 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.03412948999999999 -0.041499899999999985 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.034129489999999985 -0.041499899999999985 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412948999999999 -0.041499899999999985 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.034129489999999985 -0.041499899999999985 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378499999999998 0.01781110000000001 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.043784999999999984 0.01781110000000001 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999998 0.01781110000000001 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043784999999999984 0.01781110000000001 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378499999999999 -0.014191799999999997 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.043785 -0.014191799999999997 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378499999999999 -0.014191799999999997 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785 -0.014191799999999997 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351373 0.011314599999999966 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.043513729999999994 0.011314599999999966 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351373 0.011314599999999966 -0.09276499999999999"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.043513729999999994 0.011314599999999966 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.044503292 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04450329199999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503292 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450329199999999 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05313347 0.017184100000000008 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.053133469999999995 0.017184100000000008 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313347 0.017184100000000008 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133469999999995 0.017184100000000008 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.054451799999999995 -0.013799100000000002 -0.0043179999999999885 -1.5707963664504991 -1.5706802104435666 -1.919861927351539</pose>
+      <pose>0.05445179999999999 -0.013799100000000002 -0.0043179999999999885 -1.5707963664504991 -1.5706802104435666 -1.919861927351539</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b9" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707963664504991 -1.5706802104435666 -1.919861927351539" xyz="0.054451799999999995 -0.013799100000000002 -0.0043179999999999885"/>
+    <origin rpy="-1.5707963664504991 -1.5706802104435666 -1.919861927351539" xyz="0.05445179999999999 -0.013799100000000002 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.02591510000000001 0.042743999999999976 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
+      <pose>0.025915100000000003 0.042743999999999976 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.02591510000000001 0.042743999999999976 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915100000000003 0.042743999999999976 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999994 -0.04171870000000001 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
+      <pose>0.018459299999999988 -0.04171870000000001 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999994 -0.04171870000000001 -0.09295800000000004"/>
+    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999988 -0.04171870000000001 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
diff --git a/iCub/robots/iCubGenova04/model.urdf b/iCub/robots/iCubGenova04/model.urdf
index bcb3414..de1a7ce 100644
--- a/iCub/robots/iCubGenova04/model.urdf
+++ b/iCub/robots/iCubGenova04/model.urdf
@@ -23,12 +23,12 @@
   </link>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -37,7 +37,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -199,7 +199,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
+    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -213,7 +213,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
+    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -241,7 +241,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
+    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -269,21 +269,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
+    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
+    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
+    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -318,14 +318,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
+    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
+    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -339,21 +339,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
+    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
+    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
+    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -374,14 +374,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
+    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
+    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -402,7 +402,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
+    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -416,7 +416,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
+    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -511,12 +511,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.03360009999999998 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.033600099999999994 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.382866"/>
       <inertia ixx="0.00120946" ixy="3.74585e-07" ixz="-5.78759e-05" iyy="0.00141439" iyz="-7.80325e-06" izz="0.000273599"/>
     </inertial>
     <visual>
-      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -525,7 +525,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -539,14 +539,14 @@
   </joint>
   <link name="r_sole"/>
   <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.003499999999999996 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
+    <origin xyz="0.003500000000000003 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_0"/>
   <joint name="r_sole_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.06047669999999999 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.060476699999999994 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_0"/>
     <dynamics damping="0.1"/>
@@ -560,14 +560,14 @@
   </joint>
   <link name="r_sole_skin_2"/>
   <joint name="r_sole_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.09320869999999998 -0.032368 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.09320869999999999 -0.032368 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_3"/>
   <joint name="r_sole_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.11158309999999996 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.11158309999999998 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_3"/>
     <dynamics damping="0.1"/>
@@ -609,112 +609,112 @@
   </joint>
   <link name="r_sole_skin_12"/>
   <joint name="r_sole_skin_12_fixed_joint" type="fixed">
-    <origin xyz="0.08286799999999997 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.08286799999999998 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_12"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_13"/>
   <joint name="r_sole_skin_13_fixed_joint" type="fixed">
-    <origin xyz="0.10124239999999997 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.10124239999999998 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_13"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_14"/>
   <joint name="r_sole_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05013603999999998 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.050136039999999986 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_14"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_15"/>
   <joint name="r_sole_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.046119189999999984 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.04611918999999999 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_17"/>
   <joint name="r_sole_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.029685499999999997 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.02968549999999999 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_18"/>
   <joint name="r_sole_skin_18_fixed_joint" type="fixed">
-    <origin xyz="-0.04805990000000001 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.0480599 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_18"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_19"/>
   <joint name="r_sole_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.05207670000000001 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.052076700000000004 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_20"/>
   <joint name="r_sole_skin_20_fixed_joint" type="fixed">
-    <origin xyz="-0.037719200000000015 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.03771920000000001 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_21"/>
   <joint name="r_sole_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.03577849999999998 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.03577849999999999 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_21"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_22"/>
   <joint name="r_sole_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.02774479999999999 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.027744799999999997 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_22"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_24"/>
   <joint name="r_sole_skin_24_fixed_joint" type="fixed">
-    <origin xyz="-0.004987200000000004 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.004987199999999997 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_24"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_25"/>
   <joint name="r_sole_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.013387199999999995 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.013387200000000002 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_25"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_26"/>
   <joint name="r_sole_skin_26_fixed_joint" type="fixed">
-    <origin xyz="0.017404099999999985 0.0133722 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.017404099999999992 0.0133722 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_26"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_27"/>
   <joint name="r_sole_skin_27_fixed_joint" type="fixed">
-    <origin xyz="0.0030464999999999798 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.0030464999999999867 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_27"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_28"/>
   <joint name="r_sole_skin_28_fixed_joint" type="fixed">
-    <origin xyz="-0.015327899999999998 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.015327899999999992 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_28"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_29"/>
   <joint name="r_sole_skin_29_fixed_joint" type="fixed">
-    <origin xyz="-0.019344800000000002 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.019344799999999995 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_29"/>
     <dynamics damping="0.1"/>
@@ -938,12 +938,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
+      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000158626" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.000206526" iyz="1.19785e-06" izz="0.000104956"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -952,15 +952,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
-    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
+    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -989,7 +989,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
+    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -1026,12 +1026,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13344e-05" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="5.86947e-05" iyz="3.92498e-06" izz="9.68353e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1040,7 +1040,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1056,7 +1056,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -1077,7 +1077,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -1086,35 +1086,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1135,14 +1135,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -1170,7 +1170,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -1191,35 +1191,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1254,19 +1254,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="5.57722e-06" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="5.29845e-06" iyz="-1.59685e-07" izz="1.87724e-06"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1275,14 +1275,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -1312,7 +1312,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -1358,12 +1358,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
+      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000159621" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.000222574" iyz="1.20112e-06" izz="0.000120056"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1372,15 +1372,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
-    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
+    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -1409,7 +1409,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
+    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -1446,7 +1446,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13352e-05" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="5.86823e-05" iyz="3.9319e-06" izz="9.68469e-05"/>
     </inertial>
@@ -1476,7 +1476,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -1497,7 +1497,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -1506,35 +1506,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1555,7 +1555,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -1576,7 +1576,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -1611,35 +1611,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1653,7 +1653,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1674,19 +1674,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="5.56774e-06" ixy="3.08362e-08" ixz="9.42153e-07" iyy="5.28838e-06" iyz="-1.58924e-07" izz="1.87579e-06"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1695,14 +1695,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1732,7 +1732,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1748,12 +1748,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1762,7 +1762,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1778,12 +1778,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0011062999999999906 1.7299999999997873e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0011062999999999976 1.730000000001175e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.415987"/>
       <inertia ixx="0.000475741" ixy="2.89355e-07" ixz="-6.72876e-08" iyy="0.000279828" iyz="6.7417e-06" izz="0.000307828"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1792,14 +1792,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
+    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1808,12 +1808,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.00012289999999999524 -0.00028229999999998534 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012290000000000217 -0.0002822999999999992 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="3.27938e-05" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="5.69957e-05" iyz="3.32338e-08" izz="3.26449e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1822,26 +1822,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008301999999999893 7.519999999998361e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008301999999999962 7.519999999999749e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868999999999982 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868999999999913 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1850,7 +1850,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1866,7 +1866,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.05125669999999999 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.051256699999999995 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1880,12 +1880,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.000999800000000002 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0009997999999999951 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1894,7 +1894,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1910,12 +1910,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015153099999999996 0.000902 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.015153099999999989 0.0009020000000000139 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447429734460005" ixy="-1.1322603878053663e-06" ixz="3.046651057758992e-05" iyy="0.0004478873540695352" iyz="2.5726583414130826e-06" izz="0.0003076030453774591"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1924,7 +1924,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1940,12 +1940,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011447000000000054 3.5999999999786203e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0011446999999999985 3.599999999992498e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.265122"/>
       <inertia ixx="0.000327222" ixy="-4.74606e-08" ixz="4.94571e-08" iyy="0.000248285" iyz="-4.29975e-06" izz="0.000150937"/>
     </inertial>
     <visual>
-      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1954,7 +1954,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1991,7 +1991,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.003499999999999996 0 -0.0605" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.003500000000000003 0 -0.0605" rpy="3.141592653589793 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2658,13 +2658,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2706,13 +2706,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2754,13 +2754,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2778,13 +2778,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2814,13 +2814,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2838,13 +2838,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2862,13 +2862,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -3004,24 +3004,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -3063,13 +3063,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
+      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
@@ -3087,178 +3087,178 @@
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07847939999999998 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
+      <pose>0.07847939999999999 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999998 -0.011812200000000009 -0.001214999999999966"/>
+    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999999 -0.011812200000000009 -0.001214999999999966"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012577000000000005 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.012577000000000012 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000005 -0.04040720000000002 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000012 -0.04040720000000002 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012574999999999996 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012575000000000003 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012574999999999996 0.04040679999999998 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575000000000003 0.04040679999999998 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.01308100000000001 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.013081000000000016 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.01308100000000001 -0.04040720000000002 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000016 -0.04040720000000002 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013078999999999993 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.013079 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999993 0.04040679999999998 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013079 0.04040679999999998 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04200169 0.03156479999999999 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
+      <pose>0.042001689999999994 0.03156479999999999 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.04200169 0.03156479999999999 0.04913199999999998"/>
+    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.042001689999999994 0.03156479999999999 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352114999999999 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352114999999998 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999999 0.007765700000000014 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999998 0.007765700000000014 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053784999999999986 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999998 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429400000000002 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999998 -0.014429400000000002 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.03412954999999999 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412954999999998 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999999 -0.0414999 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999998 -0.0414999 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378499999999999 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.043785 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999999 0.017810999999999994 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043785 0.017810999999999994 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785000000000004 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.04378500000000001 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785000000000004 -0.014191800000000011 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378500000000001 -0.014191800000000011 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.043513791999999996 0.011314499999999963 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04351379199999999 0.011314499999999963 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.043513791999999996 0.011314499999999963 -0.09276499999999999"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351379199999999 0.011314499999999963 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.044503353999999995 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04450335399999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503353999999995 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450335399999999 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05313352999999999 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.053133529999999984 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313352999999999 0.017184099999999994 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133529999999984 0.017184099999999994 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
@@ -3276,25 +3276,25 @@
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915200000000003 0.04274479999999997 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
+      <pose>0.025915199999999996 0.04274479999999997 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.025915200000000003 0.04274479999999997 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915199999999996 0.04274479999999997 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999984 -0.041718700000000025 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
+      <pose>0.018459299999999977 -0.041718700000000025 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999984 -0.041718700000000025 -0.09295800000000004"/>
+    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999977 -0.041718700000000025 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
@@ -3368,45 +3368,45 @@
     <sensor name="l_upper_leg_ft_acc_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_acc_3b12" type="accelerometer">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_hip_2">
     <sensor name="l_upper_leg_ft_gyro_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_gyro_3b12" type="gyroscope">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_acc_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_acc_3b13" type="accelerometer">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_gyro_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_gyro_3b13" type="gyroscope">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
   </sensor>
   <gazebo>
     <pose>0.0 0.0 0.63 0.0 0.0 3.14</pose>
diff --git a/iCub/robots/iCubGenova04_plus/model.urdf b/iCub/robots/iCubGenova04_plus/model.urdf
index 612b79d..188d3d3 100644
--- a/iCub/robots/iCubGenova04_plus/model.urdf
+++ b/iCub/robots/iCubGenova04_plus/model.urdf
@@ -247,12 +247,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
+      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000158626" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.000206526" iyz="1.19785e-06" izz="0.000104956"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -261,15 +261,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
-    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
+    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -298,7 +298,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
+    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -335,12 +335,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13344e-05" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="5.86947e-05" iyz="3.92498e-06" izz="9.68353e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -349,7 +349,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -365,7 +365,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -386,7 +386,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -395,35 +395,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -444,14 +444,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -479,7 +479,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -500,35 +500,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -542,7 +542,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -563,19 +563,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="5.57722e-06" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="5.29845e-06" iyz="-1.59685e-07" izz="1.87724e-06"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -584,14 +584,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -621,7 +621,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -667,12 +667,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
+      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000159621" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.000222574" iyz="1.20112e-06" izz="0.000120056"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -681,15 +681,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
-    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
+    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -718,7 +718,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
+    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -755,7 +755,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13352e-05" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="5.86823e-05" iyz="3.9319e-06" izz="9.68469e-05"/>
     </inertial>
@@ -785,7 +785,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -806,7 +806,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -815,35 +815,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -864,7 +864,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -885,7 +885,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -920,35 +920,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -962,7 +962,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -983,19 +983,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="5.56774e-06" ixy="3.08362e-08" ixz="9.42153e-07" iyy="5.28838e-06" iyz="-1.58924e-07" izz="1.87579e-06"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1004,14 +1004,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1041,7 +1041,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1057,12 +1057,12 @@
   </joint>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1071,7 +1071,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.058310299999999995 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
+    <origin xyz="0.058310299999999995 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1247,7 +1247,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208552 0.03044339999999998 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
+    <origin xyz="0.05208552 0.03044339999999998 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -1275,7 +1275,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999999 -0.03117600000000001 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
+    <origin xyz="0.05504769999999999 -0.03117600000000001 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -1303,21 +1303,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.035753400000000005 0.04106279999999999 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
+    <origin xyz="0.035753400000000005 0.04106279999999999 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.023441900000000012 0.04799079999999998 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
+    <origin xyz="0.023441900000000012 0.04799079999999998 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.02427040000000001 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
+    <origin xyz="0.02427040000000001 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -1352,14 +1352,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.047748659999999984 -0.031231999999999996 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
+    <origin xyz="0.047748659999999984 -0.031231999999999996 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322408999999999 -0.01560180000000004 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
+    <origin xyz="0.05322408999999999 -0.01560180000000004 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -1373,21 +1373,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880466999999999 -0.031263 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
+    <origin xyz="0.04880466999999999 -0.031263 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999999 -0.01591290000000002 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
+    <origin xyz="0.05660089999999999 -0.01591290000000002 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.057010599999999995 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
+    <origin xyz="0.057010599999999995 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -1408,14 +1408,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641629999999995 0.01763889999999997 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
+    <origin xyz="0.052641629999999995 0.01763889999999997 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113137 0.032438499999999953 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
+    <origin xyz="0.04113137 0.032438499999999953 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -1436,7 +1436,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998319999999995 0.0012663999999999592 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
+    <origin xyz="0.052998319999999995 0.0012663999999999592 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -1450,7 +1450,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127079999999986 -0.030749000000000026 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
+    <origin xyz="0.045127079999999986 -0.030749000000000026 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -1485,12 +1485,12 @@
   </joint>
   <link name="r_ankle_1">
     <inertial>
-      <origin xyz="0.015143405473968821 -0.0008685000000000082 4.2859082720503316e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.015143405473968807 -0.0008685000000000082 4.2859082720503316e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.6803"/>
       <inertia ixx="0.0004046207392315529" ixy="8.523488844593136e-06" ixz="-2.8913590319053794e-05" iyy="0.0004379396781535379" iyz="3.7330395179426065e-05" izz="0.00031892819418424145"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272424511754 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424511755 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1499,7 +1499,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272424511754 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424511755 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1515,12 +1515,12 @@
   </joint>
   <link name="r_ankle_2">
     <inertial>
-      <origin xyz="0.0011452157753235187 -8.299999999988872e-06 -0.038511854107377785" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.0011452157753235048 -8.299999999988872e-06 -0.038511854107377785" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.265337"/>
       <inertia ixx="0.000327646" ixy="-7.94989e-08" ixz="8.24551e-09" iyy="0.000244632" iyz="2.0701e-05" izz="0.000155777"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272442308744 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442308745 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1529,7 +1529,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272442308744 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442308745 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1537,7 +1537,7 @@
   </link>
   <joint name="r_ankle_roll" type="revolute">
     <origin xyz="0 0 0" rpy="0 0 0"/>
-    <axis xyz="-1.0000001561184808 -6.013654019199066e-16 1.1979394973216095e-07"/>
+    <axis xyz="-1.0000001561184808 -6.013654019199066e-16 1.197939497389039e-07"/>
     <parent link="r_ankle_1"/>
     <child link="r_ankle_2"/>
     <limit effort="37.0" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="7.64"/>
@@ -1545,12 +1545,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.039779742643594365 0.004553699994905444 -0.006311816589999797" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
+      <origin xyz="0.039779742643594365 0.004553699994905444 -0.006311816589999797" rpy="-1.832595507822573 0 -1.5707963267948983"/>
       <mass value="0.357881"/>
       <inertia ixx="0.00109611" ixy="-2.9193e-07" ixz="-3.70109e-05" iyy="0.00125706" iyz="5.10952e-06" izz="0.000215359"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
+      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.832595507822573 0 -1.5707963267948983"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1559,14 +1559,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
+      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.832595507822573 0 -1.5707963267948983"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.0034999280659716026 0 -0.060500343280208146" rpy="3.141592652417863 0 0"/>
+    <origin xyz="-0.0034999280659716164 0 -0.060500343280208146" rpy="3.141592652417863 0 0"/>
     <parent link="r_ankle_2"/>
     <child link="r_foot"/>
     <dynamics damping="0.1"/>
@@ -1580,12 +1580,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1594,7 +1594,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1610,12 +1610,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0015761999999999929 -1.940000000000275e-05 -0.04405299999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0015761999999999998 -1.939999999998887e-05 -0.04405299999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.421106"/>
       <inertia ixx="0.000494284" ixy="1.5483e-07" ixz="-1.86308e-07" iyy="0.000288736" iyz="1.52962e-05" izz="0.000319008"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1624,14 +1624,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
+    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1640,12 +1640,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.00012299999999999117 -0.0002823000000000131 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.0001229999999999981 -0.000282300000000027 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="3.27938e-05" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="5.69957e-05" iyz="3.32338e-08" izz="3.26449e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.043708999809320984 0.07010000000001014 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370899980932098 0.07010000000001013 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1654,26 +1654,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.043708999809320984 0.07010000000001014 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370899980932098 0.07010000000001013 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008574999999999972 0 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008575000000000041 0 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868000000000092 0.00010179999999999911 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868000000000023 0.00010179999999999911 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.043708999809320984 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980932098 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1682,7 +1682,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.043708999809320984 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980932098 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1698,7 +1698,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.051256699999999975 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.05125669999999998 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1712,12 +1712,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.000999700000000013 0.0034968999999999834 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0009997000000000061 0.0034968999999999834 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370899980931699 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980931698 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1726,7 +1726,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370899980931699 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980931698 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1742,12 +1742,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015152971856010347 0.0009021000000000029 4.2316556559285345e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.015152971856010333 0.0009021000000000029 4.2316556559285345e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447618553062084" ixy="-8.97867775831874e-06" ixz="2.9134846047326194e-05" iyy="0.00043720150287133953" iyz="3.730206268073148e-05" izz="0.00031828795462876227"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272424516862 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424516864 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1756,7 +1756,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272424516862 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424516864 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1772,12 +1772,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011452157753235465 -8.299999999974994e-06 -0.038511854107377674" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.0011452157753235326 -8.299999999974994e-06 -0.038511854107377674" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.265337"/>
       <inertia ixx="0.000327646" ixy="-7.94989e-08" ixz="8.24551e-09" iyy="0.000244632" iyz="2.0701e-05" izz="0.000155777"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272442313177 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442313178 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1786,7 +1786,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272442313177 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442313178 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1794,7 +1794,7 @@
   </link>
   <joint name="l_ankle_roll" type="revolute">
     <origin xyz="0 0 0" rpy="0 0 0"/>
-    <axis xyz="1.0000001561184808 6.013654019199066e-16 -1.1979394973216095e-07"/>
+    <axis xyz="1.0000001561184808 6.013654019199066e-16 -1.197939497389039e-07"/>
     <parent link="l_ankle_1"/>
     <child link="l_ankle_2"/>
     <limit effort="37.0" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="7.64"/>
@@ -1823,7 +1823,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.0034999280659716026 0 -0.060500343280208146" rpy="-3.141592643239301 0 0"/>
+    <origin xyz="-0.0034999280659716164 0 -0.060500343280208146" rpy="-3.141592643239301 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2315,13 +2315,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2363,13 +2363,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2411,13 +2411,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2435,13 +2435,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2471,13 +2471,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2495,13 +2495,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2519,13 +2519,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -2661,24 +2661,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351373 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04351373 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351373 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351373 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.044503292 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.044503292 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503292 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.044503292 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -2696,13 +2696,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0537517 0.01572289999999999 -0.0043179999999999885 -1.5707962918765586 -1.5706802104434696 -1.2217307215014315</pose>
+      <pose>0.0537517 0.01572289999999999 -0.0043179999999999885 -1.5707962918786202 -1.5706802104434698 -1.221730721500941</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707962918765586 -1.5706802104434696 -1.2217307215014315" xyz="0.0537517 0.01572289999999999 -0.0043179999999999885"/>
+    <origin rpy="-1.5707962918786202 -1.5706802104434698 -1.221730721500941" xyz="0.0537517 0.01572289999999999 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b10" type="imu">
@@ -2720,238 +2720,238 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.01648010000000001 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
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   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
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   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
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   <sensor name="r_foot_mtb_acc_11b12" type="accelerometer">
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   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
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   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012577099999999994 -0.040407200000000004 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577099999999994 -0.040407200000000004 -0.08340699999999998"/>
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   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012575099999999985 0.040407 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575099999999985 0.040407 -0.040226999999999985"/>
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   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013080999999999995 -0.040407200000000004 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
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     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013080999999999995 -0.040407200000000004 -0.087979"/>
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   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.01307899999999998 0.040407 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.013078999999999986 0.040407 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.01307899999999998 0.040407 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999986 0.040407 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.042001630000000005 0.03156500000000001 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
+      <pose>0.04200163 0.03156500000000001 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.042001630000000005 0.03156500000000001 0.04913199999999998"/>
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   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352109 0.007765700000000028 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352108999999999 0.007765700000000028 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352109 0.007765700000000028 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352108999999999 0.007765700000000028 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053785 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053785 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999999 -0.014429399999999995 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053784999999999986 -0.014429399999999995 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 -0.014429399999999995 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429399999999995 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.03412948999999999 -0.041499899999999985 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.034129489999999985 -0.041499899999999985 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412948999999999 -0.041499899999999985 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.034129489999999985 -0.041499899999999985 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378499999999998 0.01781110000000001 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.043784999999999984 0.01781110000000001 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999998 0.01781110000000001 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043784999999999984 0.01781110000000001 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378499999999999 -0.014191799999999997 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.043785 -0.014191799999999997 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378499999999999 -0.014191799999999997 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785 -0.014191799999999997 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351373 0.011314599999999966 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.043513729999999994 0.011314599999999966 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351373 0.011314599999999966 -0.09276499999999999"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.043513729999999994 0.011314599999999966 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.044503292 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04450329199999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503292 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450329199999999 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05313347 0.017184100000000008 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.053133469999999995 0.017184100000000008 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313347 0.017184100000000008 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133469999999995 0.017184100000000008 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.054451799999999995 -0.013799100000000002 -0.0043179999999999885 -1.5707963664504991 -1.5706802104435666 -1.919861927351539</pose>
+      <pose>0.05445179999999999 -0.013799100000000002 -0.0043179999999999885 -1.5707963664504991 -1.5706802104435666 -1.919861927351539</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b9" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707963664504991 -1.5706802104435666 -1.919861927351539" xyz="0.054451799999999995 -0.013799100000000002 -0.0043179999999999885"/>
+    <origin rpy="-1.5707963664504991 -1.5706802104435666 -1.919861927351539" xyz="0.05445179999999999 -0.013799100000000002 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.02591510000000001 0.042743999999999976 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
+      <pose>0.025915100000000003 0.042743999999999976 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.02591510000000001 0.042743999999999976 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915100000000003 0.042743999999999976 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999994 -0.04171870000000001 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
+      <pose>0.018459299999999988 -0.04171870000000001 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999994 -0.04171870000000001 -0.09295800000000004"/>
+    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999988 -0.04171870000000001 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
diff --git a/iCub/robots/iCubGenova09/model.urdf b/iCub/robots/iCubGenova09/model.urdf
index 8667dd1..7ec30d6 100644
--- a/iCub/robots/iCubGenova09/model.urdf
+++ b/iCub/robots/iCubGenova09/model.urdf
@@ -398,12 +398,12 @@
   </joint>
   <link name="l_shoulder_1">
     <inertial>
-      <origin xyz="0.0002918276617865645 0.05723090680782866 0.0005026028232598713" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
+      <origin xyz="0.0002918276617865645 0.05723090680782866 0.0005026028232598678" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
       <mass value="1.45562"/>
       <inertia ixx="0.00109517" ixy="0.000611891" ixz="0.000565594" iyy="0.00306956" iyz="-0.000159546" izz="0.00307951"/>
     </inertial>
     <visual>
-      <origin xyz="0.030411223823216205 -0.02914047750374663 0.019095766539677896" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
+      <origin xyz="0.030411223823216205 -0.02914047750374663 0.019095766539677893" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -412,7 +412,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.030411223823216205 -0.02914047750374663 0.019095766539677896" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
+      <origin xyz="0.030411223823216205 -0.02914047750374663 0.019095766539677893" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -420,7 +420,7 @@
   </link>
   <joint name="l_shoulder_pitch" type="revolute">
     <origin xyz="-0.020835100000000002 0.0397423 0.1052029" rpy="0.25326162380993705 -1.1977334179319483e-07 -0.26179930184968747"/>
-    <axis xyz="3.323079797673039e-07 0.9999999783534342 1.4452224303407313e-07"/>
+    <axis xyz="3.323079797554136e-07 0.9999999783534342 1.4452224303420037e-07"/>
     <parent link="chest"/>
     <child link="l_shoulder_1"/>
     <limit effort="50000" lower="-1.53588974175501" upper="0.22689280275926285" velocity="120.0"/>
@@ -428,12 +428,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.0032933620254868984 0.0002563804707528261 -0.027865685757097337" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.003293362025486902 0.0002563804707528261 -0.027865685757097337" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <mass value="0.322126"/>
       <inertia ixx="0.000311039" ixy="-3.5032e-05" ixz="-2.4436e-05" iyy="0.000216027" iyz="-5.52877e-05" izz="0.00022365"/>
     </inertial>
     <visual>
-      <origin xyz="0.026393097869193412 -0.14153112610649204 -0.007252397644602138" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.026393097869193385 -0.14153112610649207 -0.007252397644602134" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -442,15 +442,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.026393097869193412 -0.14153112610649204 -0.007252397644602138" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.026393097869193385 -0.14153112610649207 -0.007252397644602134" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="0.004992849331690818 0.111499838456099 0.0002686502277366859" rpy="-0.17453296140985 -0.05374759931933852 0"/>
-    <axis xyz="0.9999998262417684 2.0348252649342313e-07 -4.0230228454118944e-08"/>
+    <origin xyz="0.004992849331690818 0.111499838456099 0.00026865022773668243" rpy="-0.17453296140985003 -0.05374759931933849 0"/>
+    <axis xyz="0.9999998262417685 2.0348252625938444e-07 -4.023022846062156e-08"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.20943951023931956" upper="2.792526803190927" velocity="120.0"/>
@@ -458,12 +458,12 @@
   </joint>
   <link name="l_shoulder_3">
     <inertial>
-      <origin xyz="-4.41626402200232e-06 9.587749727052453e-05 -0.007326213473011087" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="-4.416264022005789e-06 9.587749727052453e-05 -0.007326213473011087" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <mass value="0.256128"/>
       <inertia ixx="7.10321e-05" ixy="-3.76336e-07" ixz="2.93189e-06" iyy="7.06105e-05" iyz="-3.52325e-06" izz="0.000119948"/>
     </inertial>
     <visual>
-      <origin xyz="0.03074323102617175 -0.14153148936381543 0.047047641079459586" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.030743231026171717 -0.14153148936381543 0.04704764107945959" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -472,26 +472,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.03074323102617175 -0.14153148936381543 0.047047641079459586" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.030743231026171717 -0.14153148936381543 0.04704764107945959" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_arm_ft_sensor" type="fixed">
-    <origin xyz="-0.004350133156978329 3.632573233880443e-07 -0.05430003872406172" rpy="0 0 0"/>
+    <origin xyz="-0.004350133156978318 3.632573233602887e-07 -0.05430003872406172" rpy="0 0 0"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_arm">
     <inertial>
-      <origin xyz="0.006736834478024381 -0.02179925575103303 -0.04590612014684704" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.006736834478024374 -0.021799255751033003 -0.04590612014684704" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <mass value="2.07167"/>
       <inertia ixx="0.00382639" ixy="0.000215061" ixz="-5.23479e-05" iyy="0.00368146" iyz="0.000254564" izz="0.00167002"/>
     </inertial>
     <visual>
-      <origin xyz="0.030743149468679242 -0.14153106591133105 0.06954758245258398" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.030743149468679207 -0.14153106591133105 0.06954758245258398" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -500,15 +500,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.030743149468679242 -0.14153106591133105 0.06954758245258398" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.030743149468679207 -0.14153106591133105 0.06954758245258398" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0 -4.2345248449371375e-07 -0.02249994137312443" rpy="0 0 0"/>
-    <axis xyz="2.227647404040578e-08 -4.393786245948661e-08 -1.0000002566182309"/>
+    <origin xyz="0 -4.2345248449371375e-07 -0.022499941373124423" rpy="0 0 0"/>
+    <axis xyz="2.2276474049102235e-08 -4.393786247302041e-08 -1.0000002566182309"/>
     <parent link="l_shoulder_3"/>
     <child link="l_upper_arm"/>
     <limit effort="50000" lower="-0.8726646259971648" upper="1.3962634015954636" velocity="120.0"/>
@@ -516,12 +516,12 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="-0.010241946078109292 0.0018224069895867168 -0.01508962025855548" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="-0.010241946078109288 0.0018224069895867168 -0.015089620258555453" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <mass value="0.230254"/>
       <inertia ixx="0.0001165" ixy="7.51175e-07" ixz="-9.8725e-06" iyy="0.00012549" iyz="-1.03338e-05" izz="4.38981e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.02074321923375982 -0.14003141848790218 0.19324791999016772" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.02074321923375979 -0.14003141848790218 0.19324791999016774" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_elbow_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -530,7 +530,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.02074321923375982 -0.14003141848790218 0.19324791999016772" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.02074321923375979 -0.14003141848790218 0.19324791999016774" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_elbow_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -538,7 +538,7 @@
   </link>
   <joint name="l_elbow" type="revolute">
     <origin xyz="0.009999930234919404 -0.001499647423428896 -0.12370033753758375" rpy="0 0 0"/>
-    <axis xyz="-8.811824154381087e-08 -1.0000002733514628 4.4047361189014644e-08"/>
+    <axis xyz="-8.811824174789715e-08 -1.0000002733514628 4.404736120498342e-08"/>
     <parent link="l_upper_arm"/>
     <child link="l_elbow_1"/>
     <limit effort="50000" lower="-0.05235987755982989" upper="1.3089969389957472" velocity="120.0"/>
@@ -546,12 +546,12 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="-0.006269874102298061 -4.68551245806359e-05 -0.030648347755607153" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="-0.0062698741022980675 -4.68551245806359e-05 -0.030648347755607208" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <mass value="0.90793"/>
       <inertia ixx="0.00131822" ixy="-7.39737e-07" ixz="-2.69292e-05" iyy="0.00128448" iyz="0.000108551" izz="0.000646975"/>
     </inertial>
     <visual>
-      <origin xyz="0.03574308988793752 -0.14203106199153712 0.24854798357264754" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.035743089887937486 -0.14203106199153712 0.24854798357264754" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_forearm_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -560,15 +560,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.03574308988793752 -0.14203106199153712 0.24854798357264754" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.035743089887937486 -0.14203106199153712 0.24854798357264754" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_forearm_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="-0.014999870654177704 0.0019996435036348514 -0.055300063582479825" rpy="0 0 0"/>
-    <axis xyz="2.227647404040578e-08 -4.393786245948661e-08 -1.0000002566182309"/>
+    <origin xyz="-0.0149998706541777 0.0019996435036348514 -0.0553000635824798" rpy="0 0 0"/>
+    <axis xyz="2.2276474049102235e-08 -4.393786247302041e-08 -1.0000002566182309"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
     <limit effort="50000" lower="-1.53588974175501" upper="1.53588974175501" velocity="120.0"/>
@@ -576,12 +576,12 @@
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.014390150453737368 -0.0005083960996520587 -9.893035257668714e-05" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="-0.014390150453737368 -0.0005083960996520864 -9.893035257668714e-05" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <mass value="0.0344005"/>
       <inertia ixx="5.11755e-06" ixy="-9.19776e-07" ixz="-1.4756e-08" iyy="1.60849e-06" iyz="-1.11493e-07" izz="5.58546e-06"/>
     </inertial>
     <visual>
-      <origin xyz="0.019143073953651363 -0.14403795720960977 0.3560476247151885" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.019143073953651328 -0.1440379572096098 0.3560476247151885" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -590,15 +590,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.019143073953651363 -0.14403795720960977 0.3560476247151885" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.019143073953651328 -0.1440379572096098 0.3560476247151885" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.016600015934286182 0.002006895218072541 -0.10749964114254112" rpy="0 0 0"/>
-    <axis xyz="-0.9999998262417684 -2.0348252649342313e-07 4.0230228454118944e-08"/>
+    <origin xyz="0.016600015934286182 0.0020068952180725685 -0.10749964114254112" rpy="0 0 0"/>
+    <axis xyz="-0.9999998262417685 -2.0348252625938444e-07 4.023022846062156e-08"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
     <limit effort="50000" lower="-1.2217304763960306" upper="0.4363323129985824" velocity="120.0"/>
@@ -606,12 +606,12 @@
   </joint>
   <link name="l_hand">
     <inertial>
-      <origin xyz="0.004786523181334722 -0.0061337378723908265 -0.0672770617484692" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.004786523181334726 -0.0061337378723908265 -0.0672770617484692" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <mass value="0.263541"/>
       <inertia ixx="0.000427427" ixy="-4.77094e-05" ixz="-1.03141e-05" iyy="0.000346557" iyz="1.19895e-05" izz="0.000161212"/>
     </inertial>
     <visual>
-      <origin xyz="0.03544319569838081 -0.13703856452803848 0.35604770325391955" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.035443195698380774 -0.13703856452803848 0.35604770325391955" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_hand_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -620,15 +620,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.03544319569838081 -0.13703856452803848 0.35604770325391955" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.035443195698380774 -0.13703856452803848 0.35604770325391955" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_hand_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.016300121744729387 -0.0069993926815711816 0" rpy="0 0 0"/>
-    <axis xyz="8.811824154381087e-08 1.0000002733514628 -4.4047361189014644e-08"/>
+    <origin xyz="-0.016300121744729387 -0.006999392681571209 0" rpy="0 0 0"/>
+    <axis xyz="8.811824174789715e-08 1.0000002733514628 -4.404736120498342e-08"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
     <limit effort="50000" lower="-0.2617993877991494" upper="0.6108652381980153" velocity="120.0"/>
@@ -658,7 +658,7 @@
   </link>
   <joint name="r_shoulder_pitch" type="revolute">
     <origin xyz="-0.020835100000000002 -0.0397423 0.1052029" rpy="-0.25326164431680925 2.3014774394592079e-07 0.26179970938509745"/>
-    <axis xyz="1.499044390054707e-07 0.9999999783534812 -1.2401537036188515e-07"/>
+    <axis xyz="1.499044390098182e-07 0.9999999783534812 -1.2401537036323317e-07"/>
     <parent link="chest"/>
     <child link="r_shoulder_1"/>
     <limit effort="50000" lower="-1.53588974175501" upper="0.22689280275926285" velocity="120.0"/>
@@ -666,12 +666,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="0.0007118441514370015 -0.0002899713150672778 -0.027865575116629175" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.000711844151437005 -0.00028997131506725005 -0.027865575116629175" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <mass value="0.322126"/>
       <inertia ixx="0.000309774" ixy="3.44034e-05" ixz="2.39129e-05" iyy="0.00021568" iyz="-5.45925e-05" izz="0.000222102"/>
     </inertial>
     <visual>
-      <origin xyz="0.023893261066846316 0.14153171676199236 -0.007252350207672715" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.02389326106684632 0.1415317167619924 -0.007252350207672714" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -680,15 +680,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.023893261066846316 0.14153171676199236 -0.007252350207672715" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.02389326106684632 0.1415317167619924 -0.007252350207672714" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="0.007489008185044645 -0.11150041046657978 0.0004027858966975245" rpy="0.17453306234069357 -0.053747792579130614 -6.132332688812785e-07"/>
-    <axis xyz="-0.9999998262417886 4.2105014356162707e-08 2.4630481189336084e-08"/>
+    <origin xyz="0.007489008185044645 -0.11150041046657978 0.0004027858966975245" rpy="0.17453306234069352 -0.05374779257913059 -6.132332688804098e-07"/>
+    <axis xyz="-0.9999998262417886 4.210501434612913e-08 2.4630481182686846e-08"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.20943951023931956" upper="2.792526803190927" velocity="120.0"/>
@@ -696,12 +696,12 @@
   </joint>
   <link name="r_shoulder_3">
     <inertial>
-      <origin xyz="-8.928496484206933e-05 -3.376971940446949e-05 -0.00759450025288725" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="-8.928496484206933e-05 -3.376971940446949e-05 -0.007594500252887257" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <mass value="0.258699"/>
       <inertia ixx="7.20362e-05" ixy="5.87638e-07" ixz="-2.8754e-06" iyy="7.22746e-05" iyz="-3.42816e-06" izz="0.000119776"/>
     </inertial>
     <visual>
-      <origin xyz="0.030743207452236198 0.1415314977120318 0.04704763137021829" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.030743207452236198 0.1415314977120318 0.047047631370218286" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -710,26 +710,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.030743207452236198 0.1415314977120318 0.04704763137021829" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.030743207452236198 0.1415314977120318 0.047047631370218286" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_arm_ft_sensor" type="fixed">
-    <origin xyz="-0.006849946385389875 2.1904996055921444e-07 -0.05429998157789099" rpy="0 0 0"/>
+    <origin xyz="-0.006849946385389872 2.1904996058697002e-07 -0.05429998157789099" rpy="0 0 0"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_upper_arm">
     <inertial>
-      <origin xyz="-4.8274954764261635e-06 -0.001943485876269635 -0.04747357932833829" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="-4.827495476422694e-06 -0.001943485876269635 -0.04747357932833829" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <mass value="2.06334"/>
       <inertia ixx="0.00382639" ixy="-5.03894e-06" ixz="0.000205684" iyy="0.00368146" iyz="0.000261155" izz="0.00167002"/>
     </inertial>
     <visual>
-      <origin xyz="0.030743125543818518 0.141531075879301 0.06954757274337188" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.03074312554381852 0.141531075879301 0.06954757274337188" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -738,15 +738,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.030743125543818518 0.141531075879301 0.06954757274337188" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.03074312554381852 0.141531075879301 0.06954757274337188" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="0 4.2183273077367467e-07 -0.022499941373153573" rpy="0 0 0"/>
-    <axis xyz="-3.787621790513063e-08 2.805197706068352e-08 1.0000002566182309"/>
+    <origin xyz="0 4.2183273077367467e-07 -0.02249994137315358" rpy="0 0 0"/>
+    <axis xyz="-3.787621790776764e-08 2.805197706023475e-08 1.0000002566182309"/>
     <parent link="r_shoulder_3"/>
     <child link="r_upper_arm"/>
     <limit effort="50000" lower="-0.8726646259971648" upper="1.3962634015954636" velocity="120.0"/>
@@ -754,12 +754,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.011624818009452066 -0.00180281594701992 0.022300137248866647" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="-0.011624818009452066 -0.0018028159470199479 0.022300137248866647" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <mass value="0.397478"/>
       <inertia ixx="0.00139406" ixy="5.80993e-06" ixz="5.27143e-05" iyy="0.00139077" iyz="6.49755e-05" izz="0.000397127"/>
     </inertial>
     <visual>
-      <origin xyz="0.020743193621214673 0.14003143574727359 0.19324791023291824" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.020743193621214673 0.14003143574727356 0.19324791023291824" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_elbow_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -768,15 +768,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.020743193621214673 0.14003143574727359 0.19324791023291824" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.020743193621214673 0.14003143574727356 0.19324791023291824" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_elbow_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_elbow" type="revolute">
-    <origin xyz="0.009999931922603816 0.0014996401320274133 -0.1237003374895465" rpy="0 0 0"/>
-    <axis xyz="2.4949582809984105e-07 -1.0000002733514362 2.7942487004772865e-08"/>
+    <origin xyz="0.00999993192260382 0.0014996401320274133 -0.1237003374895465" rpy="0 0 0"/>
+    <axis xyz="2.4949582807394525e-07 -1.0000002733514362 2.7942487010105877e-08"/>
     <parent link="r_upper_arm"/>
     <child link="r_elbow_1"/>
     <limit effort="50000" lower="-0.05235987755982989" upper="1.3089969389957472" velocity="120.0"/>
@@ -805,8 +805,8 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.014999869468812953 -0.001999649905318951 -0.05530006367251966" rpy="0 0 0"/>
-    <axis xyz="-3.787621790513063e-08 2.805197706068352e-08 1.0000002566182309"/>
+    <origin xyz="-0.014999869468812953 -0.0019996499053189787 -0.05530006367251966" rpy="0 0 0"/>
+    <axis xyz="-3.787621790776764e-08 2.805197706023475e-08 1.0000002566182309"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
     <limit effort="50000" lower="-1.53588974175501" upper="1.53588974175501" velocity="120.0"/>
@@ -814,12 +814,12 @@
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="-0.014389827079018234 0.0005092753390522065 -9.787315764231419e-05" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="-0.014389827079018234 0.0005092753390521787 -9.78731576423697e-05" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <mass value="0.0344005"/>
       <inertia ixx="5.11755e-06" ixy="9.19776e-07" ixz="1.47559e-08" iyy="1.60849e-06" iyz="-1.11493e-07" izz="5.58546e-06"/>
     </inertial>
     <visual>
-      <origin xyz="0.019443109736078983 0.1440385285434042 0.35604805361754455" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.019443109736078983 0.14403852854340418 0.3560480536175445" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -828,7 +828,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.019443109736078983 0.1440385285434042 0.35604805361754455" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.019443109736078983 0.14403852854340418 0.3560480536175445" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -836,7 +836,7 @@
   </link>
   <joint name="r_wrist_pitch" type="revolute">
     <origin xyz="0.016299953353948633 -0.002007442890811839 -0.10750007971210637" rpy="0 0 0"/>
-    <axis xyz="0.9999998262417886 -4.2105014356162707e-08 -2.4630481189336084e-08"/>
+    <axis xyz="0.9999998262417886 -4.210501434612913e-08 -2.4630481182686846e-08"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
     <limit effort="50000" lower="-1.2217304763960306" upper="0.4363323129985824" velocity="120.0"/>
@@ -844,12 +844,12 @@
   </joint>
   <link name="r_hand">
     <inertial>
-      <origin xyz="0.004828314385249662 0.00615667237451184 -0.0671378028889843" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.004828314385249669 0.00615667237451184 -0.0671378028889843" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <mass value="0.264229"/>
       <inertia ixx="0.000428764" ixy="4.7873e-05" ixz="1.1114e-05" iyy="0.000348073" iyz="1.14469e-05" izz="0.00016164"/>
     </inertial>
     <visual>
-      <origin xyz="0.03574323261035171 0.1370391384923124 0.35604813291443793" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.03574323261035172 0.1370391384923124 0.35604813291443793" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_hand_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -858,15 +858,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.03574323261035171 0.1370391384923124 0.35604813291443793" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.03574323261035172 0.1370391384923124 0.35604813291443793" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_hand_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="continuous">
-    <origin xyz="-0.016300122874272734 0.0069993900510918194 0" rpy="0 0 0"/>
-    <axis xyz="-2.4949582809984105e-07 1.0000002733514362 -2.7942487004772865e-08"/>
+    <origin xyz="-0.016300122874272734 0.006999390051091792 0" rpy="0 0 0"/>
+    <axis xyz="-2.4949582807394525e-07 1.0000002733514362 -2.7942487010105877e-08"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
     <dynamics damping="0.1"/>
@@ -1524,7 +1524,7 @@
         <frame>sensor</frame>
         <measure_direction>child_to_parent</measure_direction>
       </force_torque>
-      <pose>-0.004350133156978329 3.632573233880443e-07 -0.05430003872406172 3.141592646862139 -3.104683320142575e-08 -1.5707962571980942</pose>
+      <pose>-0.004350133156978318 3.632573233602887e-07 -0.05430003872406172 3.141592646862139 -3.10468332187885e-08 -1.5707962571980942</pose>
       <plugin name="left_arm_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
   <yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_left_arm_ft.ini</yarpConfigurationFile>
 </plugin>
@@ -1536,7 +1536,7 @@
       <frame>sensor</frame>
       <measure_direction>child_to_parent</measure_direction>
     </force_torque>
-    <origin rpy="3.141592646862139 -3.104683320142575e-08 -1.5707962571980942" xyz="-0.004350133156978329 3.632573233880443e-07 -0.05430003872406172"/>
+    <origin rpy="3.141592646862139 -3.10468332187885e-08 -1.5707962571980942" xyz="-0.004350133156978318 3.632573233602887e-07 -0.05430003872406172"/>
   </sensor>
   <gazebo reference="r_arm_ft_sensor">
     <sensor name="r_arm_ft_sensor" type="force_torque">
@@ -1546,7 +1546,7 @@
         <frame>sensor</frame>
         <measure_direction>child_to_parent</measure_direction>
       </force_torque>
-      <pose>-0.006849946385389875 2.1904996055921444e-07 -0.05429998157789099 3.141592644717707 4.094299285979593e-08 1.5707964185756365</pose>
+      <pose>-0.006849946385389872 2.1904996058697002e-07 -0.05429998157789099 3.141592644717707 4.094299285979593e-08 1.5707964185756365</pose>
       <plugin name="right_arm_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
   <yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_right_arm_ft.ini</yarpConfigurationFile>
 </plugin>
@@ -1558,7 +1558,7 @@
       <frame>sensor</frame>
       <measure_direction>child_to_parent</measure_direction>
     </force_torque>
-    <origin rpy="3.141592644717707 4.094299285979593e-08 1.5707964185756365" xyz="-0.006849946385389875 2.1904996055921444e-07 -0.05429998157789099"/>
+    <origin rpy="3.141592644717707 4.094299285979593e-08 1.5707964185756365" xyz="-0.006849946385389872 2.1904996058697002e-07 -0.05429998157789099"/>
   </sensor>
   <gazebo reference="l_foot_front_ft_sensor">
     <sensor name="l_foot_front_ft_sensor" type="force_torque">

From fc233a25ad5842897c2d6e9083a07bc270b2c2a8 Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio.traversaro@iit.it>
Date: Fri, 11 Dec 2020 17:11:45 +0000
Subject: [PATCH 07/10] Automatic build. GitHub Actions build: 415891553
 icub-model-generator
 commit:robotology/icub-models-generator@6ffba96867cd8b3293cdb6e519a7f79b9baa7c4a
 urdf_parser_py
 commit:ros/urdf_parser_py@31474b9baaf7c3845b40e5a9aa87d5900a2282c3
 simmechanics-to-urdf
 commit:robotology/simmechanics-to-urdf@f6055ab8d627c45138ddde46532ea42a74b48caa

---
 iCub/robots/iCubGazeboV3/model.urdf | 2 +-
 iCub/robots/iCubGenova09/model.urdf | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/iCub/robots/iCubGazeboV3/model.urdf b/iCub/robots/iCubGazeboV3/model.urdf
index b1a7b55..17debb4 100644
--- a/iCub/robots/iCubGazeboV3/model.urdf
+++ b/iCub/robots/iCubGazeboV3/model.urdf
@@ -983,7 +983,7 @@
   </link>
   <joint name="neck_yaw" type="revolute">
     <origin xyz="0 0 0.06915000000000002" rpy="0 0 0"/>
-    <axis xyz="1.6255499221370677e-21 1.0999983743979075e-15 -1.0"/>
+    <axis xyz="-1.6255499221370677e-21 -1.0999983743979075e-15 1.0"/>
     <parent link="neck_3"/>
     <child link="head"/>
     <limit effort="50000" lower="-0.7853981633974483" upper="0.7853981633974483" velocity="120.0"/>
diff --git a/iCub/robots/iCubGenova09/model.urdf b/iCub/robots/iCubGenova09/model.urdf
index 7ec30d6..3b28035 100644
--- a/iCub/robots/iCubGenova09/model.urdf
+++ b/iCub/robots/iCubGenova09/model.urdf
@@ -983,7 +983,7 @@
   </link>
   <joint name="neck_yaw" type="revolute">
     <origin xyz="0 0 0.06915000000000002" rpy="0 0 0"/>
-    <axis xyz="1.6255499221370677e-21 1.0999983743979075e-15 -1.0"/>
+    <axis xyz="-1.6255499221370677e-21 -1.0999983743979075e-15 1.0"/>
     <parent link="neck_3"/>
     <child link="head"/>
     <limit effort="50000" lower="-0.7853981633974483" upper="0.7853981633974483" velocity="120.0"/>

From b79c089d668ce76474580d0cd3b6b3e984b3cead Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Nicol=C3=B2=20Genesio=20=28=E4=BA=8C=E3=82=B3=E3=82=B2?=
 =?UTF-8?q?=E3=83=8D=29?= <nicolo.genesio@iit.it>
Date: Tue, 22 Dec 2020 21:09:36 +0000
Subject: [PATCH 08/10] Automatic build. GitHub Actions build: 438914056
 icub-model-generator commit:
 robotology/icub-models-generator@7c1537c525eb09eeefd7e475e04762b92bb71b85
 urdf_parser_py commit:
 ros/urdf_parser_py@31474b9baaf7c3845b40e5a9aa87d5900a2282c3
 simmechanics-to-urdf commit:
 robotology/simmechanics-to-urdf@f6055ab8d627c45138ddde46532ea42a74b48caa

---
 iCub/robots/iCubDarmstadt01/model.urdf     | 374 ++++++++++-----------
 iCub/robots/iCubGazeboV2_5/model.urdf      | 372 ++++++++++----------
 iCub/robots/iCubGazeboV2_5_plus/model.urdf | 346 +++++++++----------
 iCub/robots/iCubGazeboV2_6/model.urdf      | 372 ++++++++++----------
 iCub/robots/iCubGazeboV2_7/model.urdf      | 372 ++++++++++----------
 iCub/robots/iCubGazeboV3/model.urdf        | 144 ++++----
 iCub/robots/iCubGenova01/model.urdf        | 374 ++++++++++-----------
 iCub/robots/iCubGenova02/model.urdf        | 348 +++++++++----------
 iCub/robots/iCubGenova04/model.urdf        | 374 ++++++++++-----------
 iCub/robots/iCubGenova04_plus/model.urdf   | 348 +++++++++----------
 iCub/robots/iCubGenova09/model.urdf        | 144 ++++----
 11 files changed, 1784 insertions(+), 1784 deletions(-)

diff --git a/iCub/robots/iCubDarmstadt01/model.urdf b/iCub/robots/iCubDarmstadt01/model.urdf
index 676aece..1acd7d5 100644
--- a/iCub/robots/iCubDarmstadt01/model.urdf
+++ b/iCub/robots/iCubDarmstadt01/model.urdf
@@ -23,12 +23,12 @@
   </link>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -37,7 +37,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -199,7 +199,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
+    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -213,7 +213,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
+    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -241,7 +241,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
+    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -269,21 +269,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
+    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
+    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
+    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -318,14 +318,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
+    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
+    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -339,21 +339,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
+    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
+    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
+    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -374,14 +374,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
+    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
+    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -402,7 +402,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
+    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -416,7 +416,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
+    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -511,12 +511,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.033600099999999994 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.03360009999999998 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.382866"/>
       <inertia ixx="0.00120946" ixy="3.74585e-07" ixz="-5.78759e-05" iyy="0.00141439" iyz="-7.80325e-06" izz="0.000273599"/>
     </inertial>
     <visual>
-      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -525,7 +525,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -539,14 +539,14 @@
   </joint>
   <link name="r_sole"/>
   <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.003500000000000003 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
+    <origin xyz="0.003499999999999996 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_0"/>
   <joint name="r_sole_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.060476699999999994 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.06047669999999999 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_0"/>
     <dynamics damping="0.1"/>
@@ -560,14 +560,14 @@
   </joint>
   <link name="r_sole_skin_2"/>
   <joint name="r_sole_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.09320869999999999 -0.032368 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.09320869999999998 -0.032368 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_3"/>
   <joint name="r_sole_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.11158309999999998 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.11158309999999996 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_3"/>
     <dynamics damping="0.1"/>
@@ -609,112 +609,112 @@
   </joint>
   <link name="r_sole_skin_12"/>
   <joint name="r_sole_skin_12_fixed_joint" type="fixed">
-    <origin xyz="0.08286799999999998 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.08286799999999997 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_12"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_13"/>
   <joint name="r_sole_skin_13_fixed_joint" type="fixed">
-    <origin xyz="0.10124239999999998 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.10124239999999997 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_13"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_14"/>
   <joint name="r_sole_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.050136039999999986 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.05013603999999998 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_14"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_15"/>
   <joint name="r_sole_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.04611918999999999 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.046119189999999984 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_17"/>
   <joint name="r_sole_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.02968549999999999 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.029685499999999997 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_18"/>
   <joint name="r_sole_skin_18_fixed_joint" type="fixed">
-    <origin xyz="-0.0480599 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.04805990000000001 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_18"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_19"/>
   <joint name="r_sole_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.052076700000000004 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.05207670000000001 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_20"/>
   <joint name="r_sole_skin_20_fixed_joint" type="fixed">
-    <origin xyz="-0.03771920000000001 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.037719200000000015 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_21"/>
   <joint name="r_sole_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.03577849999999999 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.03577849999999998 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_21"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_22"/>
   <joint name="r_sole_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.027744799999999997 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.02774479999999999 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_22"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_24"/>
   <joint name="r_sole_skin_24_fixed_joint" type="fixed">
-    <origin xyz="-0.004987199999999997 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.004987200000000004 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_24"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_25"/>
   <joint name="r_sole_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.013387200000000002 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.013387199999999995 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_25"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_26"/>
   <joint name="r_sole_skin_26_fixed_joint" type="fixed">
-    <origin xyz="0.017404099999999992 0.0133722 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.017404099999999985 0.0133722 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_26"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_27"/>
   <joint name="r_sole_skin_27_fixed_joint" type="fixed">
-    <origin xyz="0.0030464999999999867 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.0030464999999999798 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_27"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_28"/>
   <joint name="r_sole_skin_28_fixed_joint" type="fixed">
-    <origin xyz="-0.015327899999999992 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.015327899999999998 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_28"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_29"/>
   <joint name="r_sole_skin_29_fixed_joint" type="fixed">
-    <origin xyz="-0.019344799999999995 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.019344800000000002 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_29"/>
     <dynamics damping="0.1"/>
@@ -938,12 +938,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
+      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000158626" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.000206526" iyz="1.19785e-06" izz="0.000104956"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -952,15 +952,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
-    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
+    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -989,7 +989,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
+    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -1026,12 +1026,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13344e-05" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="5.86947e-05" iyz="3.92498e-06" izz="9.68353e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1040,7 +1040,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1056,7 +1056,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -1077,7 +1077,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -1086,35 +1086,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1135,14 +1135,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -1170,7 +1170,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -1191,35 +1191,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1254,19 +1254,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="5.57722e-06" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="5.29845e-06" iyz="-1.59685e-07" izz="1.87724e-06"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1275,14 +1275,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -1312,7 +1312,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -1358,12 +1358,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
+      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000159621" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.000222574" iyz="1.20112e-06" izz="0.000120056"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1372,15 +1372,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
-    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
+    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -1409,7 +1409,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
+    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -1446,7 +1446,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13352e-05" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="5.86823e-05" iyz="3.9319e-06" izz="9.68469e-05"/>
     </inertial>
@@ -1476,7 +1476,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -1497,7 +1497,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -1506,35 +1506,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1555,7 +1555,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -1576,7 +1576,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -1611,35 +1611,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1653,7 +1653,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1674,19 +1674,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="5.56774e-06" ixy="3.08362e-08" ixz="9.42153e-07" iyy="5.28838e-06" iyz="-1.58924e-07" izz="1.87579e-06"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1695,14 +1695,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1732,7 +1732,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1748,12 +1748,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1762,7 +1762,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1778,12 +1778,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0011062999999999976 1.730000000001175e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0011062999999999906 1.7299999999997873e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.415987"/>
       <inertia ixx="0.000475741" ixy="2.89355e-07" ixz="-6.72876e-08" iyy="0.000279828" iyz="6.7417e-06" izz="0.000307828"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1792,14 +1792,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
+    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1808,12 +1808,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.00012290000000000217 -0.0002822999999999992 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012289999999999524 -0.00028229999999998534 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="3.27938e-05" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="5.69957e-05" iyz="3.32338e-08" izz="3.26449e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1822,26 +1822,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008301999999999962 7.519999999999749e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008301999999999893 7.519999999998361e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868999999999913 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868999999999982 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1850,7 +1850,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1866,7 +1866,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.051256699999999995 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.05125669999999999 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1880,12 +1880,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.0009997999999999951 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.000999800000000002 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1894,7 +1894,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1910,12 +1910,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015153099999999989 0.0009020000000000139 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.015153099999999996 0.000902 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447429734460005" ixy="-1.1322603878053663e-06" ixz="3.046651057758992e-05" iyy="0.0004478873540695352" iyz="2.5726583414130826e-06" izz="0.0003076030453774591"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1924,7 +1924,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1940,12 +1940,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011446999999999985 3.599999999992498e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0011447000000000054 3.5999999999786203e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.265122"/>
       <inertia ixx="0.000327222" ixy="-4.74606e-08" ixz="4.94571e-08" iyy="0.000248285" iyz="-4.29975e-06" izz="0.000150937"/>
     </inertial>
     <visual>
-      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1954,7 +1954,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1991,7 +1991,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.003500000000000003 0 -0.0605" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.003499999999999996 0 -0.0605" rpy="3.141592653589793 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2658,13 +2658,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2706,13 +2706,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2754,13 +2754,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2778,13 +2778,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2814,13 +2814,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2838,13 +2838,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2862,13 +2862,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -3004,24 +3004,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -3063,13 +3063,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
@@ -3087,178 +3087,178 @@
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07847939999999999 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
+      <pose>0.07847939999999998 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999999 -0.011812200000000009 -0.001214999999999966"/>
+    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999998 -0.011812200000000009 -0.001214999999999966"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012577000000000012 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.012577000000000005 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000012 -0.04040720000000002 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000005 -0.04040720000000002 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012575000000000003 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012574999999999996 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575000000000003 0.04040679999999998 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012574999999999996 0.04040679999999998 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013081000000000016 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.01308100000000001 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000016 -0.04040720000000002 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.01308100000000001 -0.04040720000000002 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013079 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.013078999999999993 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013079 0.04040679999999998 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999993 0.04040679999999998 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.042001689999999994 0.03156479999999999 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
+      <pose>0.04200169 0.03156479999999999 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.042001689999999994 0.03156479999999999 0.04913199999999998"/>
+    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.04200169 0.03156479999999999 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352114999999998 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352114999999999 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999998 0.007765700000000014 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999999 0.007765700000000014 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999998 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053784999999999986 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999998 -0.014429400000000002 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429400000000002 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.03412954999999998 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412954999999999 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999998 -0.0414999 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999999 -0.0414999 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.04378499999999999 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043785 0.017810999999999994 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999999 0.017810999999999994 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378500000000001 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.043785000000000004 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378500000000001 -0.014191800000000011 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785000000000004 -0.014191800000000011 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351379199999999 0.011314499999999963 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.043513791999999996 0.011314499999999963 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351379199999999 0.011314499999999963 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.043513791999999996 0.011314499999999963 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450335399999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.044503353999999995 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450335399999999 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503353999999995 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053133529999999984 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.05313352999999999 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133529999999984 0.017184099999999994 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313352999999999 0.017184099999999994 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
@@ -3276,25 +3276,25 @@
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915199999999996 0.04274479999999997 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.025915200000000003 0.04274479999999997 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915199999999996 0.04274479999999997 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.025915200000000003 0.04274479999999997 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999977 -0.041718700000000025 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
+      <pose>0.018459299999999984 -0.041718700000000025 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999977 -0.041718700000000025 -0.09295800000000004"/>
+    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999984 -0.041718700000000025 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
@@ -3368,45 +3368,45 @@
     <sensor name="l_upper_leg_ft_acc_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_acc_3b12" type="accelerometer">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_hip_2">
     <sensor name="l_upper_leg_ft_gyro_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_gyro_3b12" type="gyroscope">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_acc_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_acc_3b13" type="accelerometer">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_gyro_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_gyro_3b13" type="gyroscope">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
   </sensor>
   <gazebo>
     <pose>0.0 0.0 0.63 0.0 0.0 3.14</pose>
diff --git a/iCub/robots/iCubGazeboV2_5/model.urdf b/iCub/robots/iCubGazeboV2_5/model.urdf
index a2fd141..332206e 100644
--- a/iCub/robots/iCubGazeboV2_5/model.urdf
+++ b/iCub/robots/iCubGazeboV2_5/model.urdf
@@ -23,12 +23,12 @@
   </link>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -37,7 +37,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -199,7 +199,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
+    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -213,7 +213,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
+    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -241,7 +241,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
+    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -269,21 +269,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
+    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
+    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
+    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -318,14 +318,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
+    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
+    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -339,21 +339,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
+    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
+    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
+    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -374,14 +374,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
+    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
+    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -402,7 +402,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
+    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -416,7 +416,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
+    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -511,12 +511,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.033600099999999994 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.03360009999999998 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.382866"/>
       <inertia ixx="0.00120946" ixy="3.74585e-07" ixz="-5.78759e-05" iyy="0.00141439" iyz="-7.80325e-06" izz="0.000273599"/>
     </inertial>
     <visual>
-      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -539,14 +539,14 @@
   </joint>
   <link name="r_sole"/>
   <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.003500000000000003 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
+    <origin xyz="0.003499999999999996 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_0"/>
   <joint name="r_sole_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.060476699999999994 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.06047669999999999 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_0"/>
     <dynamics damping="0.1"/>
@@ -560,14 +560,14 @@
   </joint>
   <link name="r_sole_skin_2"/>
   <joint name="r_sole_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.09320869999999999 -0.032368 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.09320869999999998 -0.032368 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_3"/>
   <joint name="r_sole_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.11158309999999998 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.11158309999999996 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_3"/>
     <dynamics damping="0.1"/>
@@ -609,112 +609,112 @@
   </joint>
   <link name="r_sole_skin_12"/>
   <joint name="r_sole_skin_12_fixed_joint" type="fixed">
-    <origin xyz="0.08286799999999998 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.08286799999999997 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_12"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_13"/>
   <joint name="r_sole_skin_13_fixed_joint" type="fixed">
-    <origin xyz="0.10124239999999998 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.10124239999999997 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_13"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_14"/>
   <joint name="r_sole_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.050136039999999986 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.05013603999999998 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_14"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_15"/>
   <joint name="r_sole_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.04611918999999999 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.046119189999999984 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_17"/>
   <joint name="r_sole_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.02968549999999999 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.029685499999999997 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_18"/>
   <joint name="r_sole_skin_18_fixed_joint" type="fixed">
-    <origin xyz="-0.0480599 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.04805990000000001 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_18"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_19"/>
   <joint name="r_sole_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.052076700000000004 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.05207670000000001 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_20"/>
   <joint name="r_sole_skin_20_fixed_joint" type="fixed">
-    <origin xyz="-0.03771920000000001 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.037719200000000015 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_21"/>
   <joint name="r_sole_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.03577849999999999 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.03577849999999998 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_21"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_22"/>
   <joint name="r_sole_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.027744799999999997 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.02774479999999999 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_22"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_24"/>
   <joint name="r_sole_skin_24_fixed_joint" type="fixed">
-    <origin xyz="-0.004987199999999997 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.004987200000000004 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_24"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_25"/>
   <joint name="r_sole_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.013387200000000002 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.013387199999999995 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_25"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_26"/>
   <joint name="r_sole_skin_26_fixed_joint" type="fixed">
-    <origin xyz="0.017404099999999992 0.0133722 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.017404099999999985 0.0133722 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_26"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_27"/>
   <joint name="r_sole_skin_27_fixed_joint" type="fixed">
-    <origin xyz="0.0030464999999999867 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.0030464999999999798 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_27"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_28"/>
   <joint name="r_sole_skin_28_fixed_joint" type="fixed">
-    <origin xyz="-0.015327899999999992 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.015327899999999998 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_28"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_29"/>
   <joint name="r_sole_skin_29_fixed_joint" type="fixed">
-    <origin xyz="-0.019344799999999995 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.019344800000000002 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_29"/>
     <dynamics damping="0.1"/>
@@ -938,12 +938,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
+      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.01" iyz="1.19785e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -952,15 +952,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
-    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
+    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -989,7 +989,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
+    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -1026,12 +1026,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="0.01" iyz="3.92498e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1040,7 +1040,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1056,7 +1056,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -1077,7 +1077,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -1086,35 +1086,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1135,14 +1135,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -1170,7 +1170,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -1191,35 +1191,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1254,19 +1254,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="0.01" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="0.01" iyz="-1.59685e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1275,14 +1275,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -1312,7 +1312,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -1358,12 +1358,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
+      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.01" iyz="1.20112e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1372,15 +1372,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
-    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
+    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -1409,7 +1409,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
+    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -1446,7 +1446,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="0.01" iyz="3.9319e-06" izz="0.01"/>
     </inertial>
@@ -1476,7 +1476,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -1497,7 +1497,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -1506,35 +1506,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1555,7 +1555,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -1576,7 +1576,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -1611,35 +1611,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1653,7 +1653,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1674,19 +1674,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="0.01" ixy="3.08362e-08" ixz="9.42153e-07" iyy="0.01" iyz="-1.58924e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1695,14 +1695,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1732,7 +1732,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1748,12 +1748,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1762,7 +1762,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1778,12 +1778,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0011062999999999976 1.730000000001175e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0011062999999999906 1.7299999999997873e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.415987"/>
       <inertia ixx="0.000475741" ixy="2.89355e-07" ixz="-6.72876e-08" iyy="0.000279828" iyz="6.7417e-06" izz="0.000307828"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1792,14 +1792,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
+    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1808,12 +1808,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.00012290000000000217 -0.0002822999999999992 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012289999999999524 -0.00028229999999998534 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="0.01" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="0.01" iyz="3.32338e-08" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1822,26 +1822,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008301999999999962 7.519999999999749e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008301999999999893 7.519999999998361e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868999999999913 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868999999999982 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1850,7 +1850,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1866,7 +1866,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.051256699999999995 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.05125669999999999 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1880,12 +1880,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.0009997999999999951 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.000999800000000002 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1894,7 +1894,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1910,12 +1910,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015153099999999989 0.0009020000000000139 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.015153099999999996 0.000902 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447429734460005" ixy="-1.1322603878053663e-06" ixz="3.046651057758992e-05" iyy="0.0004478873540695352" iyz="2.5726583414130826e-06" izz="0.0003076030453774591"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1924,7 +1924,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1940,12 +1940,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011446999999999985 3.599999999992498e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0011447000000000054 3.5999999999786203e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.265122"/>
       <inertia ixx="0.01" ixy="-4.74606e-08" ixz="4.94571e-08" iyy="0.01" iyz="-4.29975e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1954,7 +1954,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1991,7 +1991,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.003500000000000003 0 -0.0605" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.003499999999999996 0 -0.0605" rpy="3.141592653589793 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2658,13 +2658,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2706,13 +2706,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2754,13 +2754,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2778,13 +2778,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2814,13 +2814,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2838,13 +2838,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2862,13 +2862,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -3004,24 +3004,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -3063,13 +3063,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
@@ -3087,178 +3087,178 @@
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07847939999999999 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
+      <pose>0.07847939999999998 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999999 -0.011812200000000009 -0.001214999999999966"/>
+    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999998 -0.011812200000000009 -0.001214999999999966"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012577000000000012 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.012577000000000005 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000012 -0.04040720000000002 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000005 -0.04040720000000002 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012575000000000003 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012574999999999996 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575000000000003 0.04040679999999998 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012574999999999996 0.04040679999999998 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013081000000000016 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.01308100000000001 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000016 -0.04040720000000002 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.01308100000000001 -0.04040720000000002 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013079 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.013078999999999993 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013079 0.04040679999999998 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999993 0.04040679999999998 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.042001689999999994 0.03156479999999999 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
+      <pose>0.04200169 0.03156479999999999 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.042001689999999994 0.03156479999999999 0.04913199999999998"/>
+    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.04200169 0.03156479999999999 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352114999999998 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352114999999999 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999998 0.007765700000000014 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999999 0.007765700000000014 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999998 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053784999999999986 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999998 -0.014429400000000002 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429400000000002 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.03412954999999998 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412954999999999 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999998 -0.0414999 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999999 -0.0414999 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.04378499999999999 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043785 0.017810999999999994 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999999 0.017810999999999994 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378500000000001 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.043785000000000004 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378500000000001 -0.014191800000000011 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785000000000004 -0.014191800000000011 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351379199999999 0.011314499999999963 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.043513791999999996 0.011314499999999963 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351379199999999 0.011314499999999963 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.043513791999999996 0.011314499999999963 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450335399999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.044503353999999995 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450335399999999 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503353999999995 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053133529999999984 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.05313352999999999 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133529999999984 0.017184099999999994 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313352999999999 0.017184099999999994 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
@@ -3276,25 +3276,25 @@
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915199999999996 0.04274479999999997 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.025915200000000003 0.04274479999999997 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915199999999996 0.04274479999999997 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.025915200000000003 0.04274479999999997 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999977 -0.041718700000000025 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
+      <pose>0.018459299999999984 -0.041718700000000025 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999977 -0.041718700000000025 -0.09295800000000004"/>
+    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999984 -0.041718700000000025 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
@@ -3368,45 +3368,45 @@
     <sensor name="l_upper_leg_ft_acc_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_acc_3b12" type="accelerometer">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_hip_2">
     <sensor name="l_upper_leg_ft_gyro_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_gyro_3b12" type="gyroscope">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_acc_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_acc_3b13" type="accelerometer">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_gyro_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_gyro_3b13" type="gyroscope">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
   </sensor>
   <gazebo>
     <pose>0.0 0.0 0.63 0.0 0.0 3.14</pose>
diff --git a/iCub/robots/iCubGazeboV2_5_plus/model.urdf b/iCub/robots/iCubGazeboV2_5_plus/model.urdf
index 9788760..e666461 100644
--- a/iCub/robots/iCubGazeboV2_5_plus/model.urdf
+++ b/iCub/robots/iCubGazeboV2_5_plus/model.urdf
@@ -247,12 +247,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
+      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.01" iyz="1.19785e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -261,15 +261,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
-    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
+    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -298,7 +298,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
+    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -335,12 +335,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="0.01" iyz="3.92498e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -349,7 +349,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -365,7 +365,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -386,7 +386,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -395,35 +395,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -444,14 +444,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -479,7 +479,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -500,35 +500,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -542,7 +542,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -563,19 +563,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="0.01" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="0.01" iyz="-1.59685e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -584,14 +584,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -621,7 +621,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -667,12 +667,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
+      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.01" iyz="1.20112e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -681,15 +681,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
-    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
+    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -718,7 +718,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
+    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -755,7 +755,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="0.01" iyz="3.9319e-06" izz="0.01"/>
     </inertial>
@@ -785,7 +785,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -806,7 +806,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -815,35 +815,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -864,7 +864,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -885,7 +885,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -920,35 +920,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -962,7 +962,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -983,19 +983,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="0.01" ixy="3.08362e-08" ixz="9.42153e-07" iyy="0.01" iyz="-1.58924e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1004,14 +1004,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1041,7 +1041,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1057,12 +1057,12 @@
   </joint>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1071,7 +1071,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.058310299999999995 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
+    <origin xyz="0.058310299999999995 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1247,7 +1247,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208552 0.03044339999999998 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
+    <origin xyz="0.05208552 0.03044339999999998 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -1275,7 +1275,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999999 -0.03117600000000001 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
+    <origin xyz="0.05504769999999999 -0.03117600000000001 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -1303,21 +1303,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.035753400000000005 0.04106279999999999 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
+    <origin xyz="0.035753400000000005 0.04106279999999999 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.023441900000000012 0.04799079999999998 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
+    <origin xyz="0.023441900000000012 0.04799079999999998 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.02427040000000001 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
+    <origin xyz="0.02427040000000001 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -1352,14 +1352,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.047748659999999984 -0.031231999999999996 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
+    <origin xyz="0.047748659999999984 -0.031231999999999996 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322408999999999 -0.01560180000000004 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
+    <origin xyz="0.05322408999999999 -0.01560180000000004 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -1373,21 +1373,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880466999999999 -0.031263 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
+    <origin xyz="0.04880466999999999 -0.031263 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999999 -0.01591290000000002 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
+    <origin xyz="0.05660089999999999 -0.01591290000000002 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.057010599999999995 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
+    <origin xyz="0.057010599999999995 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -1408,14 +1408,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641629999999995 0.01763889999999997 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
+    <origin xyz="0.052641629999999995 0.01763889999999997 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113137 0.032438499999999953 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
+    <origin xyz="0.04113137 0.032438499999999953 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -1436,7 +1436,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998319999999995 0.0012663999999999592 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
+    <origin xyz="0.052998319999999995 0.0012663999999999592 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -1450,7 +1450,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127079999999986 -0.030749000000000026 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
+    <origin xyz="0.045127079999999986 -0.030749000000000026 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -1485,12 +1485,12 @@
   </joint>
   <link name="r_ankle_1">
     <inertial>
-      <origin xyz="0.015143405473968807 -0.0008685000000000082 4.2859082720503316e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.015143405473968821 -0.0008685000000000082 4.2859082720503316e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.6803"/>
       <inertia ixx="0.0004046207392315529" ixy="8.523488844593136e-06" ixz="-2.8913590319053794e-05" iyy="0.0004379396781535379" iyz="3.7330395179426065e-05" izz="0.00031892819418424145"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272424511755 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424511754 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1499,7 +1499,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272424511755 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424511754 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1515,12 +1515,12 @@
   </joint>
   <link name="r_ankle_2">
     <inertial>
-      <origin xyz="0.0011452157753235048 -8.299999999988872e-06 -0.038511854107377785" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.0011452157753235187 -8.299999999988872e-06 -0.038511854107377785" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.265337"/>
       <inertia ixx="0.01" ixy="-7.94989e-08" ixz="8.24551e-09" iyy="0.01" iyz="2.0701e-05" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272442308745 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442308744 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1529,7 +1529,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272442308745 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442308744 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1537,7 +1537,7 @@
   </link>
   <joint name="r_ankle_roll" type="revolute">
     <origin xyz="0 0 0" rpy="0 0 0"/>
-    <axis xyz="-1.0000001561184808 -6.013654019199066e-16 1.197939497389039e-07"/>
+    <axis xyz="-1.0000001561184808 -6.013654019199066e-16 1.1979394973216095e-07"/>
     <parent link="r_ankle_1"/>
     <child link="r_ankle_2"/>
     <limit effort="37.0" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="7.64"/>
@@ -1545,12 +1545,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.039779742643594365 0.004553699994905444 -0.006311816589999797" rpy="-1.832595507822573 0 -1.5707963267948983"/>
+      <origin xyz="0.039779742643594365 0.004553699994905444 -0.006311816589999797" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
       <mass value="0.357881"/>
       <inertia ixx="0.00109611" ixy="-2.9193e-07" ixz="-3.70109e-05" iyy="0.00125706" iyz="5.10952e-06" izz="0.000215359"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.832595507822573 0 -1.5707963267948983"/>
+      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1566,7 +1566,7 @@
     </collision>
   </link>
   <joint name="r_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.0034999280659716164 0 -0.060500343280208146" rpy="3.141592652417863 0 0"/>
+    <origin xyz="-0.0034999280659716026 0 -0.060500343280208146" rpy="3.141592652417863 0 0"/>
     <parent link="r_ankle_2"/>
     <child link="r_foot"/>
     <dynamics damping="0.1"/>
@@ -1580,12 +1580,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1594,7 +1594,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1610,12 +1610,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0015761999999999998 -1.939999999998887e-05 -0.04405299999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0015761999999999929 -1.940000000000275e-05 -0.04405299999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.421106"/>
       <inertia ixx="0.000494284" ixy="1.5483e-07" ixz="-1.86308e-07" iyy="0.000288736" iyz="1.52962e-05" izz="0.000319008"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1624,14 +1624,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
+    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1640,12 +1640,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.0001229999999999981 -0.000282300000000027 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012299999999999117 -0.0002823000000000131 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="0.01" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="0.01" iyz="3.32338e-08" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370899980932098 0.07010000000001013 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.043708999809320984 0.07010000000001014 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1654,26 +1654,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370899980932098 0.07010000000001013 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.043708999809320984 0.07010000000001014 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008575000000000041 0 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008574999999999972 0 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868000000000023 0.00010179999999999911 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868000000000092 0.00010179999999999911 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370899980932098 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043708999809320984 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1682,7 +1682,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370899980932098 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043708999809320984 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1698,7 +1698,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.05125669999999998 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.051256699999999975 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1712,12 +1712,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.0009997000000000061 0.0034968999999999834 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.000999700000000013 0.0034968999999999834 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370899980931698 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980931699 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1726,7 +1726,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370899980931698 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980931699 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1742,12 +1742,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015152971856010333 0.0009021000000000029 4.2316556559285345e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.015152971856010347 0.0009021000000000029 4.2316556559285345e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447618553062084" ixy="-8.97867775831874e-06" ixz="2.9134846047326194e-05" iyy="0.00043720150287133953" iyz="3.730206268073148e-05" izz="0.00031828795462876227"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272424516864 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424516862 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1756,7 +1756,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272424516864 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424516862 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1772,12 +1772,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011452157753235326 -8.299999999974994e-06 -0.038511854107377674" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.0011452157753235465 -8.299999999974994e-06 -0.038511854107377674" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.265337"/>
       <inertia ixx="0.01" ixy="-7.94989e-08" ixz="8.24551e-09" iyy="0.01" iyz="2.0701e-05" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272442313178 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442313177 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1786,7 +1786,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272442313178 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442313177 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1794,7 +1794,7 @@
   </link>
   <joint name="l_ankle_roll" type="revolute">
     <origin xyz="0 0 0" rpy="0 0 0"/>
-    <axis xyz="1.0000001561184808 6.013654019199066e-16 -1.197939497389039e-07"/>
+    <axis xyz="1.0000001561184808 6.013654019199066e-16 -1.1979394973216095e-07"/>
     <parent link="l_ankle_1"/>
     <child link="l_ankle_2"/>
     <limit effort="37.0" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="7.64"/>
@@ -1823,7 +1823,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.0034999280659716164 0 -0.060500343280208146" rpy="-3.141592643239301 0 0"/>
+    <origin xyz="-0.0034999280659716026 0 -0.060500343280208146" rpy="-3.141592643239301 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2315,13 +2315,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2363,13 +2363,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2411,13 +2411,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2435,13 +2435,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2471,13 +2471,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2495,13 +2495,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2519,13 +2519,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -2661,24 +2661,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351373 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04351373 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351373 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351373 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.044503292 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.044503292 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.044503292 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503292 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -2696,13 +2696,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b9" type="imu">
       <always_on>1</always_on>
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   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b10" type="imu">
@@ -2720,238 +2720,238 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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     <sensor name="r_foot_mtb_acc_11b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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     <sensor name="r_foot_mtb_acc_11b13" type="imu">
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   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999988 -0.04171870000000001 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
+      <pose>0.018459299999999994 -0.04171870000000001 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999988 -0.04171870000000001 -0.09295800000000004"/>
+    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999994 -0.04171870000000001 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
diff --git a/iCub/robots/iCubGazeboV2_6/model.urdf b/iCub/robots/iCubGazeboV2_6/model.urdf
index 4024cab..cdfb5bb 100644
--- a/iCub/robots/iCubGazeboV2_6/model.urdf
+++ b/iCub/robots/iCubGazeboV2_6/model.urdf
@@ -23,12 +23,12 @@
   </link>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -37,7 +37,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -199,7 +199,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
+    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -213,7 +213,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
+    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -241,7 +241,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
+    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -269,21 +269,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
+    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
+    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
+    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -318,14 +318,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
+    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
+    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -339,21 +339,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
+    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
+    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
+    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -374,14 +374,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
+    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
+    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -402,7 +402,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
+    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -416,7 +416,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
+    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -511,12 +511,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.033600099999999994 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.03360009999999998 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.382866"/>
       <inertia ixx="0.00120946" ixy="3.74585e-07" ixz="-5.78759e-05" iyy="0.00141439" iyz="-7.80325e-06" izz="0.000273599"/>
     </inertial>
     <visual>
-      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -539,14 +539,14 @@
   </joint>
   <link name="r_sole"/>
   <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.003500000000000003 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
+    <origin xyz="0.003499999999999996 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_0"/>
   <joint name="r_sole_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.060476699999999994 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.06047669999999999 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_0"/>
     <dynamics damping="0.1"/>
@@ -560,14 +560,14 @@
   </joint>
   <link name="r_sole_skin_2"/>
   <joint name="r_sole_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.09320869999999999 -0.032368 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.09320869999999998 -0.032368 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_3"/>
   <joint name="r_sole_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.11158309999999998 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.11158309999999996 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_3"/>
     <dynamics damping="0.1"/>
@@ -609,112 +609,112 @@
   </joint>
   <link name="r_sole_skin_12"/>
   <joint name="r_sole_skin_12_fixed_joint" type="fixed">
-    <origin xyz="0.08286799999999998 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.08286799999999997 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_12"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_13"/>
   <joint name="r_sole_skin_13_fixed_joint" type="fixed">
-    <origin xyz="0.10124239999999998 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.10124239999999997 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_13"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_14"/>
   <joint name="r_sole_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.050136039999999986 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.05013603999999998 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_14"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_15"/>
   <joint name="r_sole_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.04611918999999999 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.046119189999999984 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_17"/>
   <joint name="r_sole_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.02968549999999999 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.029685499999999997 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_18"/>
   <joint name="r_sole_skin_18_fixed_joint" type="fixed">
-    <origin xyz="-0.0480599 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.04805990000000001 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_18"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_19"/>
   <joint name="r_sole_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.052076700000000004 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.05207670000000001 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_20"/>
   <joint name="r_sole_skin_20_fixed_joint" type="fixed">
-    <origin xyz="-0.03771920000000001 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.037719200000000015 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_21"/>
   <joint name="r_sole_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.03577849999999999 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.03577849999999998 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_21"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_22"/>
   <joint name="r_sole_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.027744799999999997 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.02774479999999999 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_22"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_24"/>
   <joint name="r_sole_skin_24_fixed_joint" type="fixed">
-    <origin xyz="-0.004987199999999997 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.004987200000000004 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_24"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_25"/>
   <joint name="r_sole_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.013387200000000002 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.013387199999999995 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_25"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_26"/>
   <joint name="r_sole_skin_26_fixed_joint" type="fixed">
-    <origin xyz="0.017404099999999992 0.0133722 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.017404099999999985 0.0133722 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_26"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_27"/>
   <joint name="r_sole_skin_27_fixed_joint" type="fixed">
-    <origin xyz="0.0030464999999999867 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.0030464999999999798 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_27"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_28"/>
   <joint name="r_sole_skin_28_fixed_joint" type="fixed">
-    <origin xyz="-0.015327899999999992 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.015327899999999998 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_28"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_29"/>
   <joint name="r_sole_skin_29_fixed_joint" type="fixed">
-    <origin xyz="-0.019344799999999995 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.019344800000000002 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_29"/>
     <dynamics damping="0.1"/>
@@ -938,12 +938,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
+      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.01" iyz="1.19785e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -952,15 +952,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
-    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
+    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -989,7 +989,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
+    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -1026,12 +1026,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="0.01" iyz="3.92498e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1040,7 +1040,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1056,7 +1056,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -1077,7 +1077,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -1086,35 +1086,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1135,14 +1135,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -1170,7 +1170,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -1191,35 +1191,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1254,19 +1254,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="0.01" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="0.01" iyz="-1.59685e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1275,14 +1275,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -1312,7 +1312,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -1358,12 +1358,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
+      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.01" iyz="1.20112e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1372,15 +1372,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
-    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
+    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -1409,7 +1409,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
+    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -1446,7 +1446,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="0.01" iyz="3.9319e-06" izz="0.01"/>
     </inertial>
@@ -1476,7 +1476,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -1497,7 +1497,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -1506,35 +1506,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1555,7 +1555,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -1576,7 +1576,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -1611,35 +1611,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1653,7 +1653,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1674,19 +1674,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="0.01" ixy="3.08362e-08" ixz="9.42153e-07" iyy="0.01" iyz="-1.58924e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1695,14 +1695,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1732,7 +1732,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1748,12 +1748,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1762,7 +1762,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1778,12 +1778,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0011062999999999976 1.730000000001175e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0011062999999999906 1.7299999999997873e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.415987"/>
       <inertia ixx="0.000475741" ixy="2.89355e-07" ixz="-6.72876e-08" iyy="0.000279828" iyz="6.7417e-06" izz="0.000307828"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1792,14 +1792,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
+    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1808,12 +1808,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.00012290000000000217 -0.0002822999999999992 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012289999999999524 -0.00028229999999998534 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="0.01" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="0.01" iyz="3.32338e-08" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1822,26 +1822,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008301999999999962 7.519999999999749e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008301999999999893 7.519999999998361e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868999999999913 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868999999999982 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1850,7 +1850,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1866,7 +1866,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.051256699999999995 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.05125669999999999 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1880,12 +1880,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.0009997999999999951 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.000999800000000002 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1894,7 +1894,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1910,12 +1910,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015153099999999989 0.0009020000000000139 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.015153099999999996 0.000902 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447429734460005" ixy="-1.1322603878053663e-06" ixz="3.046651057758992e-05" iyy="0.0004478873540695352" iyz="2.5726583414130826e-06" izz="0.0003076030453774591"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1924,7 +1924,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1940,12 +1940,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011446999999999985 3.599999999992498e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0011447000000000054 3.5999999999786203e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.265122"/>
       <inertia ixx="0.01" ixy="-4.74606e-08" ixz="4.94571e-08" iyy="0.01" iyz="-4.29975e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1954,7 +1954,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1991,7 +1991,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.003500000000000003 0 -0.0605" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.003499999999999996 0 -0.0605" rpy="3.141592653589793 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2658,13 +2658,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2706,13 +2706,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2754,13 +2754,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2778,13 +2778,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2814,13 +2814,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2838,13 +2838,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2862,13 +2862,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -3004,24 +3004,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -3063,13 +3063,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
@@ -3087,178 +3087,178 @@
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07847939999999999 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
+      <pose>0.07847939999999998 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999999 -0.011812200000000009 -0.001214999999999966"/>
+    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999998 -0.011812200000000009 -0.001214999999999966"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012577000000000012 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.012577000000000005 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000012 -0.04040720000000002 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000005 -0.04040720000000002 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012575000000000003 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012574999999999996 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575000000000003 0.04040679999999998 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012574999999999996 0.04040679999999998 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013081000000000016 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.01308100000000001 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000016 -0.04040720000000002 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.01308100000000001 -0.04040720000000002 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013079 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.013078999999999993 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013079 0.04040679999999998 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999993 0.04040679999999998 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.042001689999999994 0.03156479999999999 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
+      <pose>0.04200169 0.03156479999999999 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.042001689999999994 0.03156479999999999 0.04913199999999998"/>
+    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.04200169 0.03156479999999999 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352114999999998 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352114999999999 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999998 0.007765700000000014 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999999 0.007765700000000014 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999998 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053784999999999986 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999998 -0.014429400000000002 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429400000000002 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.03412954999999998 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412954999999999 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999998 -0.0414999 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999999 -0.0414999 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.04378499999999999 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043785 0.017810999999999994 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999999 0.017810999999999994 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378500000000001 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.043785000000000004 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378500000000001 -0.014191800000000011 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785000000000004 -0.014191800000000011 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351379199999999 0.011314499999999963 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.043513791999999996 0.011314499999999963 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351379199999999 0.011314499999999963 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.043513791999999996 0.011314499999999963 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450335399999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.044503353999999995 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450335399999999 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503353999999995 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053133529999999984 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.05313352999999999 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133529999999984 0.017184099999999994 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313352999999999 0.017184099999999994 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
@@ -3276,25 +3276,25 @@
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915199999999996 0.04274479999999997 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.025915200000000003 0.04274479999999997 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915199999999996 0.04274479999999997 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.025915200000000003 0.04274479999999997 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999977 -0.041718700000000025 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
+      <pose>0.018459299999999984 -0.041718700000000025 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999977 -0.041718700000000025 -0.09295800000000004"/>
+    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999984 -0.041718700000000025 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
@@ -3368,45 +3368,45 @@
     <sensor name="l_upper_leg_ft_acc_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_acc_3b12" type="accelerometer">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_hip_2">
     <sensor name="l_upper_leg_ft_gyro_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_gyro_3b12" type="gyroscope">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_acc_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_acc_3b13" type="accelerometer">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_gyro_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_gyro_3b13" type="gyroscope">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
   </sensor>
   <gazebo>
     <pose>0.0 0.0 0.63 0.0 0.0 3.14</pose>
diff --git a/iCub/robots/iCubGazeboV2_7/model.urdf b/iCub/robots/iCubGazeboV2_7/model.urdf
index 3dba975..5d055d0 100644
--- a/iCub/robots/iCubGazeboV2_7/model.urdf
+++ b/iCub/robots/iCubGazeboV2_7/model.urdf
@@ -23,12 +23,12 @@
   </link>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -37,7 +37,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -199,7 +199,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
+    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -213,7 +213,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
+    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -241,7 +241,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
+    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -269,21 +269,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
+    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
+    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
+    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -318,14 +318,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
+    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
+    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -339,21 +339,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
+    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
+    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
+    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -374,14 +374,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
+    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
+    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -402,7 +402,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
+    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -416,7 +416,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
+    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -511,12 +511,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.033600099999999994 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.03360009999999998 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.382866"/>
       <inertia ixx="0.00120946" ixy="3.74585e-07" ixz="-5.78759e-05" iyy="0.00141439" iyz="-7.80325e-06" izz="0.000273599"/>
     </inertial>
     <visual>
-      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -539,14 +539,14 @@
   </joint>
   <link name="r_sole"/>
   <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.003500000000000003 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
+    <origin xyz="0.003499999999999996 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_0"/>
   <joint name="r_sole_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.060476699999999994 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.06047669999999999 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_0"/>
     <dynamics damping="0.1"/>
@@ -560,14 +560,14 @@
   </joint>
   <link name="r_sole_skin_2"/>
   <joint name="r_sole_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.09320869999999999 -0.032368 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.09320869999999998 -0.032368 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_3"/>
   <joint name="r_sole_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.11158309999999998 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.11158309999999996 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_3"/>
     <dynamics damping="0.1"/>
@@ -609,112 +609,112 @@
   </joint>
   <link name="r_sole_skin_12"/>
   <joint name="r_sole_skin_12_fixed_joint" type="fixed">
-    <origin xyz="0.08286799999999998 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.08286799999999997 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_12"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_13"/>
   <joint name="r_sole_skin_13_fixed_joint" type="fixed">
-    <origin xyz="0.10124239999999998 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.10124239999999997 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_13"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_14"/>
   <joint name="r_sole_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.050136039999999986 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.05013603999999998 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_14"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_15"/>
   <joint name="r_sole_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.04611918999999999 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.046119189999999984 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_17"/>
   <joint name="r_sole_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.02968549999999999 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.029685499999999997 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_18"/>
   <joint name="r_sole_skin_18_fixed_joint" type="fixed">
-    <origin xyz="-0.0480599 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.04805990000000001 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_18"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_19"/>
   <joint name="r_sole_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.052076700000000004 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.05207670000000001 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_20"/>
   <joint name="r_sole_skin_20_fixed_joint" type="fixed">
-    <origin xyz="-0.03771920000000001 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.037719200000000015 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_21"/>
   <joint name="r_sole_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.03577849999999999 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.03577849999999998 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_21"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_22"/>
   <joint name="r_sole_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.027744799999999997 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.02774479999999999 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_22"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_24"/>
   <joint name="r_sole_skin_24_fixed_joint" type="fixed">
-    <origin xyz="-0.004987199999999997 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.004987200000000004 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_24"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_25"/>
   <joint name="r_sole_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.013387200000000002 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.013387199999999995 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_25"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_26"/>
   <joint name="r_sole_skin_26_fixed_joint" type="fixed">
-    <origin xyz="0.017404099999999992 0.0133722 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.017404099999999985 0.0133722 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_26"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_27"/>
   <joint name="r_sole_skin_27_fixed_joint" type="fixed">
-    <origin xyz="0.0030464999999999867 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.0030464999999999798 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_27"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_28"/>
   <joint name="r_sole_skin_28_fixed_joint" type="fixed">
-    <origin xyz="-0.015327899999999992 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.015327899999999998 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_28"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_29"/>
   <joint name="r_sole_skin_29_fixed_joint" type="fixed">
-    <origin xyz="-0.019344799999999995 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.019344800000000002 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_29"/>
     <dynamics damping="0.1"/>
@@ -938,12 +938,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
+      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.01" iyz="1.19785e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -952,15 +952,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
-    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
+    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -989,7 +989,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
+    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -1026,12 +1026,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="0.01" iyz="3.92498e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1040,7 +1040,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1056,7 +1056,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -1077,7 +1077,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -1086,35 +1086,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1135,14 +1135,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -1170,7 +1170,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -1191,35 +1191,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1254,19 +1254,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="0.01" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="0.01" iyz="-1.59685e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1275,14 +1275,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -1312,7 +1312,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -1358,12 +1358,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
+      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.01" iyz="1.20112e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1372,15 +1372,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
-    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
+    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -1409,7 +1409,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
+    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -1446,7 +1446,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="0.01" iyz="3.9319e-06" izz="0.01"/>
     </inertial>
@@ -1476,7 +1476,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -1497,7 +1497,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -1506,35 +1506,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1555,7 +1555,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -1576,7 +1576,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -1611,35 +1611,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1653,7 +1653,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1674,19 +1674,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="0.01" ixy="3.08362e-08" ixz="9.42153e-07" iyy="0.01" iyz="-1.58924e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1695,14 +1695,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1732,7 +1732,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1748,12 +1748,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1762,7 +1762,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1778,12 +1778,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0011062999999999976 1.730000000001175e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0011062999999999906 1.7299999999997873e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.415987"/>
       <inertia ixx="0.000475741" ixy="2.89355e-07" ixz="-6.72876e-08" iyy="0.000279828" iyz="6.7417e-06" izz="0.000307828"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1792,14 +1792,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
+    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1808,12 +1808,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.00012290000000000217 -0.0002822999999999992 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012289999999999524 -0.00028229999999998534 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="0.01" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="0.01" iyz="3.32338e-08" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1822,26 +1822,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008301999999999962 7.519999999999749e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008301999999999893 7.519999999998361e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868999999999913 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868999999999982 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1850,7 +1850,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1866,7 +1866,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.051256699999999995 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.05125669999999999 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1880,12 +1880,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.0009997999999999951 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.000999800000000002 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1894,7 +1894,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1910,12 +1910,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015153099999999989 0.0009020000000000139 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.015153099999999996 0.000902 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447429734460005" ixy="-1.1322603878053663e-06" ixz="3.046651057758992e-05" iyy="0.0004478873540695352" iyz="2.5726583414130826e-06" izz="0.0003076030453774591"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1924,7 +1924,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1940,12 +1940,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011446999999999985 3.599999999992498e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0011447000000000054 3.5999999999786203e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.265122"/>
       <inertia ixx="0.01" ixy="-4.74606e-08" ixz="4.94571e-08" iyy="0.01" iyz="-4.29975e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1954,7 +1954,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1991,7 +1991,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.003500000000000003 0 -0.0605" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.003499999999999996 0 -0.0605" rpy="3.141592653589793 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2674,13 +2674,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2722,13 +2722,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2770,13 +2770,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2794,13 +2794,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2830,13 +2830,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2854,13 +2854,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2878,13 +2878,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -3020,24 +3020,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -3079,13 +3079,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
@@ -3103,178 +3103,178 @@
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07847939999999999 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
+      <pose>0.07847939999999998 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999999 -0.011812200000000009 -0.001214999999999966"/>
+    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999998 -0.011812200000000009 -0.001214999999999966"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012577000000000012 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.012577000000000005 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000012 -0.04040720000000002 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000005 -0.04040720000000002 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012575000000000003 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012574999999999996 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575000000000003 0.04040679999999998 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012574999999999996 0.04040679999999998 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013081000000000016 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.01308100000000001 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000016 -0.04040720000000002 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.01308100000000001 -0.04040720000000002 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013079 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.013078999999999993 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013079 0.04040679999999998 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999993 0.04040679999999998 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.042001689999999994 0.03156479999999999 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
+      <pose>0.04200169 0.03156479999999999 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.042001689999999994 0.03156479999999999 0.04913199999999998"/>
+    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.04200169 0.03156479999999999 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352114999999998 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352114999999999 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999998 0.007765700000000014 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999999 0.007765700000000014 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999998 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053784999999999986 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999998 -0.014429400000000002 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429400000000002 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.03412954999999998 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412954999999999 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999998 -0.0414999 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999999 -0.0414999 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.04378499999999999 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043785 0.017810999999999994 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999999 0.017810999999999994 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378500000000001 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.043785000000000004 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378500000000001 -0.014191800000000011 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785000000000004 -0.014191800000000011 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351379199999999 0.011314499999999963 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.043513791999999996 0.011314499999999963 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351379199999999 0.011314499999999963 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.043513791999999996 0.011314499999999963 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450335399999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.044503353999999995 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450335399999999 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503353999999995 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053133529999999984 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.05313352999999999 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133529999999984 0.017184099999999994 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313352999999999 0.017184099999999994 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
@@ -3292,25 +3292,25 @@
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915199999999996 0.04274479999999997 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.025915200000000003 0.04274479999999997 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915199999999996 0.04274479999999997 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.025915200000000003 0.04274479999999997 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999977 -0.041718700000000025 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
+      <pose>0.018459299999999984 -0.041718700000000025 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999977 -0.041718700000000025 -0.09295800000000004"/>
+    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999984 -0.041718700000000025 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
@@ -3384,45 +3384,45 @@
     <sensor name="l_upper_leg_ft_acc_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_acc_3b12" type="accelerometer">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_hip_2">
     <sensor name="l_upper_leg_ft_gyro_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_gyro_3b12" type="gyroscope">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_acc_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_acc_3b13" type="accelerometer">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_gyro_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_gyro_3b13" type="gyroscope">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
   </sensor>
   <gazebo>
     <pose>0.0 0.0 0.63 0.0 0.0 3.14</pose>
diff --git a/iCub/robots/iCubGazeboV3/model.urdf b/iCub/robots/iCubGazeboV3/model.urdf
index 17debb4..412c7c5 100644
--- a/iCub/robots/iCubGazeboV3/model.urdf
+++ b/iCub/robots/iCubGazeboV3/model.urdf
@@ -398,12 +398,12 @@
   </joint>
   <link name="l_shoulder_1">
     <inertial>
-      <origin xyz="0.0002918276617865645 0.05723090680782866 0.0005026028232598678" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
+      <origin xyz="0.0002918276617865645 0.05723090680782866 0.0005026028232598713" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
       <mass value="1.45562"/>
       <inertia ixx="0.01" ixy="0.000611891" ixz="0.000565594" iyy="0.01" iyz="-0.000159546" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.030411223823216205 -0.02914047750374663 0.019095766539677893" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
+      <origin xyz="0.030411223823216205 -0.02914047750374663 0.019095766539677896" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -412,7 +412,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.030411223823216205 -0.02914047750374663 0.019095766539677893" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
+      <origin xyz="0.030411223823216205 -0.02914047750374663 0.019095766539677896" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -420,7 +420,7 @@
   </link>
   <joint name="l_shoulder_pitch" type="revolute">
     <origin xyz="-0.020835100000000002 0.0397423 0.1052029" rpy="0.25326162380993705 -1.1977334179319483e-07 -0.26179930184968747"/>
-    <axis xyz="3.323079797554136e-07 0.9999999783534342 1.4452224303420037e-07"/>
+    <axis xyz="3.323079797673039e-07 0.9999999783534342 1.4452224303407313e-07"/>
     <parent link="chest"/>
     <child link="l_shoulder_1"/>
     <limit effort="50000" lower="-1.53588974175501" upper="0.22689280275926285" velocity="120.0"/>
@@ -428,12 +428,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.003293362025486902 0.0002563804707528261 -0.027865685757097337" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="0.0032933620254868984 0.0002563804707528261 -0.027865685757097337" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <mass value="0.322126"/>
       <inertia ixx="0.01" ixy="-3.5032e-05" ixz="-2.4436e-05" iyy="0.01" iyz="-5.52877e-05" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.026393097869193385 -0.14153112610649207 -0.007252397644602134" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="0.026393097869193412 -0.14153112610649204 -0.007252397644602138" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -442,15 +442,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.026393097869193385 -0.14153112610649207 -0.007252397644602134" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="0.026393097869193412 -0.14153112610649204 -0.007252397644602138" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="0.004992849331690818 0.111499838456099 0.00026865022773668243" rpy="-0.17453296140985003 -0.05374759931933849 0"/>
-    <axis xyz="0.9999998262417685 2.0348252625938444e-07 -4.023022846062156e-08"/>
+    <origin xyz="0.004992849331690818 0.111499838456099 0.0002686502277366859" rpy="-0.17453296140985 -0.05374759931933852 0"/>
+    <axis xyz="0.9999998262417684 2.0348252649342313e-07 -4.0230228454118944e-08"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.20943951023931956" upper="2.792526803190927" velocity="120.0"/>
@@ -458,12 +458,12 @@
   </joint>
   <link name="l_shoulder_3">
     <inertial>
-      <origin xyz="-4.416264022005789e-06 9.587749727052453e-05 -0.007326213473011087" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="-4.41626402200232e-06 9.587749727052453e-05 -0.007326213473011087" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <mass value="0.256128"/>
       <inertia ixx="0.01" ixy="-3.76336e-07" ixz="2.93189e-06" iyy="0.01" iyz="-3.52325e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.030743231026171717 -0.14153148936381543 0.04704764107945959" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="0.03074323102617175 -0.14153148936381543 0.047047641079459586" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -472,26 +472,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.030743231026171717 -0.14153148936381543 0.04704764107945959" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="0.03074323102617175 -0.14153148936381543 0.047047641079459586" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_arm_ft_sensor" type="fixed">
-    <origin xyz="-0.004350133156978318 3.632573233602887e-07 -0.05430003872406172" rpy="0 0 0"/>
+    <origin xyz="-0.004350133156978329 3.632573233880443e-07 -0.05430003872406172" rpy="0 0 0"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_arm">
     <inertial>
-      <origin xyz="-4.828549686676509e-06 0.0019434824578758204 -0.04747357946817407" rpy="-0.06212860830092193 0.0714268908124578 0.27099931149673545"/>
+      <origin xyz="-4.828549686676509e-06 0.0019434824578757927 -0.04747357946817407" rpy="-0.062128608300921935 0.07142689081245782 0.27099931149673573"/>
       <mass value="2.06334"/>
       <inertia ixx="0.00368146" ixy="-5.03894e-06" ixz="0.000261155" iyy="0.00382639" iyz="0.000205684" izz="0.00167002"/>
     </inertial>
     <visual>
-      <origin xyz="0.030743149468679207 -0.14153106591133105 0.06954758245258398" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="0.030743149468679242 -0.14153106591133105 0.06954758245258398" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -500,15 +500,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.030743149468679207 -0.14153106591133105 0.06954758245258398" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="0.030743149468679242 -0.14153106591133105 0.06954758245258398" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0 -4.2345248449371375e-07 -0.022499941373124423" rpy="0 0 0"/>
-    <axis xyz="2.2276474049102235e-08 -4.393786247302041e-08 -1.0000002566182309"/>
+    <origin xyz="0 -4.2345248449371375e-07 -0.02249994137312443" rpy="0 0 0"/>
+    <axis xyz="2.227647404040578e-08 -4.393786245948661e-08 -1.0000002566182309"/>
     <parent link="l_shoulder_3"/>
     <child link="l_upper_arm"/>
     <limit effort="50000" lower="-0.8726646259971648" upper="1.3962634015954636" velocity="120.0"/>
@@ -516,12 +516,12 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="-0.010241946078109288 0.0018224069895867168 -0.015089620258555453" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="-0.010241946078109292 0.0018224069895867168 -0.01508962025855548" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <mass value="0.230254"/>
       <inertia ixx="0.01" ixy="7.51175e-07" ixz="-9.8725e-06" iyy="0.01" iyz="-1.03338e-05" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.02074321923375979 -0.14003141848790218 0.19324791999016774" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="0.02074321923375982 -0.14003141848790218 0.19324791999016772" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_elbow_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -530,7 +530,7 @@
       </material>
     </visual>
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-      <origin xyz="0.02074321923375979 -0.14003141848790218 0.19324791999016774" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="0.02074321923375982 -0.14003141848790218 0.19324791999016772" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_elbow_1_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -538,7 +538,7 @@
   </link>
   <joint name="l_elbow" type="revolute">
     <origin xyz="0.009999930234919404 -0.001499647423428896 -0.12370033753758375" rpy="0 0 0"/>
-    <axis xyz="-8.811824174789715e-08 -1.0000002733514628 4.404736120498342e-08"/>
+    <axis xyz="-8.811824154381087e-08 -1.0000002733514628 4.4047361189014644e-08"/>
     <parent link="l_upper_arm"/>
     <child link="l_elbow_1"/>
     <limit effort="50000" lower="-0.05235987755982989" upper="1.3089969389957472" velocity="120.0"/>
@@ -546,12 +546,12 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="-0.0062698741022980675 -4.68551245806359e-05 -0.030648347755607208" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="-0.006269874102298061 -4.68551245806359e-05 -0.030648347755607153" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
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+      <origin xyz="0.03574308988793752 -0.14203106199153712 0.24854798357264754" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_forearm_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -560,15 +560,15 @@
       </material>
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+      <origin xyz="0.03574308988793752 -0.14203106199153712 0.24854798357264754" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_forearm_prt.stl" scale="0.001 0.001 0.001"/>
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     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="-0.0149998706541777 0.0019996435036348514 -0.0553000635824798" rpy="0 0 0"/>
-    <axis xyz="2.2276474049102235e-08 -4.393786247302041e-08 -1.0000002566182309"/>
+    <origin xyz="-0.014999870654177704 0.0019996435036348514 -0.055300063582479825" rpy="0 0 0"/>
+    <axis xyz="2.227647404040578e-08 -4.393786245948661e-08 -1.0000002566182309"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
     <limit effort="50000" lower="-1.53588974175501" upper="1.53588974175501" velocity="120.0"/>
@@ -576,12 +576,12 @@
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.014390150453737368 -0.0005083960996520864 -9.893035257668714e-05" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="-0.014390150453737368 -0.0005083960996520587 -9.893035257668714e-05" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <mass value="0.0344005"/>
       <inertia ixx="0.01" ixy="-9.19776e-07" ixz="-1.4756e-08" iyy="0.01" iyz="-1.11493e-07" izz="0.01"/>
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     <visual>
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+      <origin xyz="0.019143073953651363 -0.14403795720960977 0.3560476247151885" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -590,15 +590,15 @@
       </material>
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+      <origin xyz="0.019143073953651363 -0.14403795720960977 0.3560476247151885" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
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   <joint name="l_wrist_pitch" type="revolute">
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-    <axis xyz="-0.9999998262417685 -2.0348252625938444e-07 4.023022846062156e-08"/>
+    <origin xyz="0.016600015934286182 0.002006895218072541 -0.10749964114254112" rpy="0 0 0"/>
+    <axis xyz="-0.9999998262417684 -2.0348252649342313e-07 4.0230228454118944e-08"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
     <limit effort="50000" lower="-1.2217304763960306" upper="0.4363323129985824" velocity="120.0"/>
@@ -606,12 +606,12 @@
   </joint>
   <link name="l_hand">
     <inertial>
-      <origin xyz="0.004786523181334726 -0.0061337378723908265 -0.0672770617484692" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="0.004786523181334722 -0.0061337378723908265 -0.0672770617484692" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <mass value="0.263541"/>
       <inertia ixx="0.01" ixy="-4.77094e-05" ixz="-1.03141e-05" iyy="0.01" iyz="1.19895e-05" izz="0.01"/>
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+      <origin xyz="0.03544319569838081 -0.13703856452803848 0.35604770325391955" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_hand_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -620,15 +620,15 @@
       </material>
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+      <origin xyz="0.03544319569838081 -0.13703856452803848 0.35604770325391955" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_hand_prt.stl" scale="0.001 0.001 0.001"/>
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     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.016300121744729387 -0.006999392681571209 0" rpy="0 0 0"/>
-    <axis xyz="8.811824174789715e-08 1.0000002733514628 -4.404736120498342e-08"/>
+    <origin xyz="-0.016300121744729387 -0.0069993926815711816 0" rpy="0 0 0"/>
+    <axis xyz="8.811824154381087e-08 1.0000002733514628 -4.4047361189014644e-08"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
     <limit effort="50000" lower="-0.2617993877991494" upper="0.6108652381980153" velocity="120.0"/>
@@ -658,7 +658,7 @@
   </link>
   <joint name="r_shoulder_pitch" type="revolute">
     <origin xyz="-0.020835100000000002 -0.0397423 0.1052029" rpy="-0.25326164431680925 2.3014774394592079e-07 0.26179970938509745"/>
-    <axis xyz="1.499044390098182e-07 0.9999999783534812 -1.2401537036323317e-07"/>
+    <axis xyz="1.499044390054707e-07 0.9999999783534812 -1.2401537036188515e-07"/>
     <parent link="chest"/>
     <child link="r_shoulder_1"/>
     <limit effort="50000" lower="-1.53588974175501" upper="0.22689280275926285" velocity="120.0"/>
@@ -666,12 +666,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="0.000711844151437005 -0.00028997131506725005 -0.027865575116629175" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.0007118441514370015 -0.0002899713150672778 -0.027865575116629175" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
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     <visual>
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       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -680,15 +680,15 @@
       </material>
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+      <origin xyz="0.023893261066846316 0.14153171676199236 -0.007252350207672715" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
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   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="0.007489008185044645 -0.11150041046657978 0.0004027858966975245" rpy="0.17453306234069352 -0.05374779257913059 -6.132332688804098e-07"/>
-    <axis xyz="-0.9999998262417886 4.210501434612913e-08 2.4630481182686846e-08"/>
+    <origin xyz="0.007489008185044645 -0.11150041046657978 0.0004027858966975245" rpy="0.17453306234069357 -0.053747792579130614 -6.132332688812785e-07"/>
+    <axis xyz="-0.9999998262417886 4.2105014356162707e-08 2.4630481189336084e-08"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.20943951023931956" upper="2.792526803190927" velocity="120.0"/>
@@ -696,12 +696,12 @@
   </joint>
   <link name="r_shoulder_3">
     <inertial>
-      <origin xyz="-8.928496484206933e-05 -3.376971940446949e-05 -0.007594500252887257" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="-8.928496484206933e-05 -3.376971940446949e-05 -0.00759450025288725" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
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       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -710,26 +710,26 @@
       </material>
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+      <origin xyz="0.030743207452236198 0.1415314977120318 0.04704763137021829" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
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   </link>
   <joint name="r_arm_ft_sensor" type="fixed">
-    <origin xyz="-0.006849946385389872 2.1904996058697002e-07 -0.05429998157789099" rpy="0 0 0"/>
+    <origin xyz="-0.006849946385389875 2.1904996055921444e-07 -0.05429998157789099" rpy="0 0 0"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_upper_arm">
     <inertial>
-      <origin xyz="-4.827495476422694e-06 -0.001943485876269635 -0.04747357932833829" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="-4.8274954764261635e-06 -0.001943485876269635 -0.04747357932833829" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -738,15 +738,15 @@
       </material>
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-      <origin xyz="0.03074312554381852 0.141531075879301 0.06954757274337188" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.030743125543818518 0.141531075879301 0.06954757274337188" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
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   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="0 4.2183273077367467e-07 -0.02249994137315358" rpy="0 0 0"/>
-    <axis xyz="-3.787621790776764e-08 2.805197706023475e-08 1.0000002566182309"/>
+    <origin xyz="0 4.2183273077367467e-07 -0.022499941373153573" rpy="0 0 0"/>
+    <axis xyz="-3.787621790513063e-08 2.805197706068352e-08 1.0000002566182309"/>
     <parent link="r_shoulder_3"/>
     <child link="r_upper_arm"/>
     <limit effort="50000" lower="-0.8726646259971648" upper="1.3962634015954636" velocity="120.0"/>
@@ -754,12 +754,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.011624818009452066 -0.0018028159470199479 0.022300137248866647" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="-0.011624818009452066 -0.00180281594701992 0.022300137248866647" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
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+      <origin xyz="0.020743193621214673 0.14003143574727359 0.19324791023291824" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_elbow_1_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -768,15 +768,15 @@
       </material>
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+      <origin xyz="0.020743193621214673 0.14003143574727359 0.19324791023291824" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_elbow_1_prt.stl" scale="0.001 0.001 0.001"/>
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   <joint name="r_elbow" type="revolute">
-    <origin xyz="0.00999993192260382 0.0014996401320274133 -0.1237003374895465" rpy="0 0 0"/>
-    <axis xyz="2.4949582807394525e-07 -1.0000002733514362 2.7942487010105877e-08"/>
+    <origin xyz="0.009999931922603816 0.0014996401320274133 -0.1237003374895465" rpy="0 0 0"/>
+    <axis xyz="2.4949582809984105e-07 -1.0000002733514362 2.7942487004772865e-08"/>
     <parent link="r_upper_arm"/>
     <child link="r_elbow_1"/>
     <limit effort="50000" lower="-0.05235987755982989" upper="1.3089969389957472" velocity="120.0"/>
@@ -805,8 +805,8 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.014999869468812953 -0.0019996499053189787 -0.05530006367251966" rpy="0 0 0"/>
-    <axis xyz="-3.787621790776764e-08 2.805197706023475e-08 1.0000002566182309"/>
+    <origin xyz="-0.014999869468812953 -0.001999649905318951 -0.05530006367251966" rpy="0 0 0"/>
+    <axis xyz="-3.787621790513063e-08 2.805197706068352e-08 1.0000002566182309"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
     <limit effort="50000" lower="-1.53588974175501" upper="1.53588974175501" velocity="120.0"/>
@@ -814,12 +814,12 @@
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="-0.014389827079018234 0.0005092753390521787 -9.78731576423697e-05" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="-0.014389827079018234 0.0005092753390522065 -9.787315764231419e-05" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <mass value="0.0344005"/>
       <inertia ixx="0.01" ixy="9.19776e-07" ixz="1.47559e-08" iyy="0.01" iyz="-1.11493e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.019443109736078983 0.14403852854340418 0.3560480536175445" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.019443109736078983 0.1440385285434042 0.35604805361754455" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -828,7 +828,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.019443109736078983 0.14403852854340418 0.3560480536175445" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.019443109736078983 0.1440385285434042 0.35604805361754455" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -836,7 +836,7 @@
   </link>
   <joint name="r_wrist_pitch" type="revolute">
     <origin xyz="0.016299953353948633 -0.002007442890811839 -0.10750007971210637" rpy="0 0 0"/>
-    <axis xyz="0.9999998262417886 -4.210501434612913e-08 -2.4630481182686846e-08"/>
+    <axis xyz="0.9999998262417886 -4.2105014356162707e-08 -2.4630481189336084e-08"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
     <limit effort="50000" lower="-1.2217304763960306" upper="0.4363323129985824" velocity="120.0"/>
@@ -844,12 +844,12 @@
   </joint>
   <link name="r_hand">
     <inertial>
-      <origin xyz="0.004828314385249669 0.00615667237451184 -0.0671378028889843" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.004828314385249662 0.00615667237451184 -0.0671378028889843" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <mass value="0.264229"/>
       <inertia ixx="0.01" ixy="4.7873e-05" ixz="1.1114e-05" iyy="0.01" iyz="1.14469e-05" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.03574323261035172 0.1370391384923124 0.35604813291443793" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.03574323261035171 0.1370391384923124 0.35604813291443793" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_hand_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -858,15 +858,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.03574323261035172 0.1370391384923124 0.35604813291443793" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.03574323261035171 0.1370391384923124 0.35604813291443793" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_hand_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="continuous">
-    <origin xyz="-0.016300122874272734 0.006999390051091792 0" rpy="0 0 0"/>
-    <axis xyz="-2.4949582807394525e-07 1.0000002733514362 -2.7942487010105877e-08"/>
+    <origin xyz="-0.016300122874272734 0.0069993900510918194 0" rpy="0 0 0"/>
+    <axis xyz="-2.4949582809984105e-07 1.0000002733514362 -2.7942487004772865e-08"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
     <dynamics damping="0.1"/>
@@ -1524,7 +1524,7 @@
         <frame>sensor</frame>
         <measure_direction>child_to_parent</measure_direction>
       </force_torque>
-      <pose>-0.004350133156978318 3.632573233602887e-07 -0.05430003872406172 3.141592646862139 -3.10468332187885e-08 -1.5707962571980942</pose>
+      <pose>-0.004350133156978329 3.632573233880443e-07 -0.05430003872406172 3.141592646862139 -3.104683320142575e-08 -1.5707962571980942</pose>
       <plugin name="left_arm_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
   <yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_left_arm_ft.ini</yarpConfigurationFile>
 </plugin>
@@ -1536,7 +1536,7 @@
       <frame>sensor</frame>
       <measure_direction>child_to_parent</measure_direction>
     </force_torque>
-    <origin rpy="3.141592646862139 -3.10468332187885e-08 -1.5707962571980942" xyz="-0.004350133156978318 3.632573233602887e-07 -0.05430003872406172"/>
+    <origin rpy="3.141592646862139 -3.104683320142575e-08 -1.5707962571980942" xyz="-0.004350133156978329 3.632573233880443e-07 -0.05430003872406172"/>
   </sensor>
   <gazebo reference="r_arm_ft_sensor">
     <sensor name="r_arm_ft_sensor" type="force_torque">
@@ -1546,7 +1546,7 @@
         <frame>sensor</frame>
         <measure_direction>child_to_parent</measure_direction>
       </force_torque>
-      <pose>-0.006849946385389872 2.1904996058697002e-07 -0.05429998157789099 3.141592644717707 4.094299285979593e-08 1.5707964185756365</pose>
+      <pose>-0.006849946385389875 2.1904996055921444e-07 -0.05429998157789099 3.141592644717707 4.094299285979593e-08 1.5707964185756365</pose>
       <plugin name="right_arm_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
   <yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_right_arm_ft.ini</yarpConfigurationFile>
 </plugin>
@@ -1558,7 +1558,7 @@
       <frame>sensor</frame>
       <measure_direction>child_to_parent</measure_direction>
     </force_torque>
-    <origin rpy="3.141592644717707 4.094299285979593e-08 1.5707964185756365" xyz="-0.006849946385389872 2.1904996058697002e-07 -0.05429998157789099"/>
+    <origin rpy="3.141592644717707 4.094299285979593e-08 1.5707964185756365" xyz="-0.006849946385389875 2.1904996055921444e-07 -0.05429998157789099"/>
   </sensor>
   <gazebo reference="l_foot_front_ft_sensor">
     <sensor name="l_foot_front_ft_sensor" type="force_torque">
diff --git a/iCub/robots/iCubGenova01/model.urdf b/iCub/robots/iCubGenova01/model.urdf
index 676aece..1acd7d5 100644
--- a/iCub/robots/iCubGenova01/model.urdf
+++ b/iCub/robots/iCubGenova01/model.urdf
@@ -23,12 +23,12 @@
   </link>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -37,7 +37,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -199,7 +199,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
+    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -213,7 +213,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
+    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -241,7 +241,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
+    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -269,21 +269,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
+    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
+    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
+    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -318,14 +318,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
+    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
+    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -339,21 +339,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
+    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
+    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
+    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -374,14 +374,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
+    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
+    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -402,7 +402,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
+    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -416,7 +416,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
+    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -511,12 +511,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.033600099999999994 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.03360009999999998 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.382866"/>
       <inertia ixx="0.00120946" ixy="3.74585e-07" ixz="-5.78759e-05" iyy="0.00141439" iyz="-7.80325e-06" izz="0.000273599"/>
     </inertial>
     <visual>
-      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -525,7 +525,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -539,14 +539,14 @@
   </joint>
   <link name="r_sole"/>
   <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.003500000000000003 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
+    <origin xyz="0.003499999999999996 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_0"/>
   <joint name="r_sole_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.060476699999999994 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.06047669999999999 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_0"/>
     <dynamics damping="0.1"/>
@@ -560,14 +560,14 @@
   </joint>
   <link name="r_sole_skin_2"/>
   <joint name="r_sole_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.09320869999999999 -0.032368 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.09320869999999998 -0.032368 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_3"/>
   <joint name="r_sole_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.11158309999999998 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.11158309999999996 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_3"/>
     <dynamics damping="0.1"/>
@@ -609,112 +609,112 @@
   </joint>
   <link name="r_sole_skin_12"/>
   <joint name="r_sole_skin_12_fixed_joint" type="fixed">
-    <origin xyz="0.08286799999999998 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.08286799999999997 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_12"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_13"/>
   <joint name="r_sole_skin_13_fixed_joint" type="fixed">
-    <origin xyz="0.10124239999999998 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.10124239999999997 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_13"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_14"/>
   <joint name="r_sole_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.050136039999999986 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.05013603999999998 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_14"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_15"/>
   <joint name="r_sole_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.04611918999999999 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.046119189999999984 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_17"/>
   <joint name="r_sole_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.02968549999999999 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.029685499999999997 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_18"/>
   <joint name="r_sole_skin_18_fixed_joint" type="fixed">
-    <origin xyz="-0.0480599 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.04805990000000001 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_18"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_19"/>
   <joint name="r_sole_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.052076700000000004 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.05207670000000001 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_20"/>
   <joint name="r_sole_skin_20_fixed_joint" type="fixed">
-    <origin xyz="-0.03771920000000001 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.037719200000000015 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_21"/>
   <joint name="r_sole_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.03577849999999999 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.03577849999999998 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_21"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_22"/>
   <joint name="r_sole_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.027744799999999997 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.02774479999999999 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_22"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_24"/>
   <joint name="r_sole_skin_24_fixed_joint" type="fixed">
-    <origin xyz="-0.004987199999999997 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.004987200000000004 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_24"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_25"/>
   <joint name="r_sole_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.013387200000000002 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.013387199999999995 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_25"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_26"/>
   <joint name="r_sole_skin_26_fixed_joint" type="fixed">
-    <origin xyz="0.017404099999999992 0.0133722 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.017404099999999985 0.0133722 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_26"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_27"/>
   <joint name="r_sole_skin_27_fixed_joint" type="fixed">
-    <origin xyz="0.0030464999999999867 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.0030464999999999798 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_27"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_28"/>
   <joint name="r_sole_skin_28_fixed_joint" type="fixed">
-    <origin xyz="-0.015327899999999992 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.015327899999999998 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_28"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_29"/>
   <joint name="r_sole_skin_29_fixed_joint" type="fixed">
-    <origin xyz="-0.019344799999999995 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.019344800000000002 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_29"/>
     <dynamics damping="0.1"/>
@@ -938,12 +938,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
+      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000158626" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.000206526" iyz="1.19785e-06" izz="0.000104956"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -952,15 +952,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
-    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
+    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -989,7 +989,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
+    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -1026,12 +1026,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13344e-05" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="5.86947e-05" iyz="3.92498e-06" izz="9.68353e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1040,7 +1040,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1056,7 +1056,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -1077,7 +1077,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -1086,35 +1086,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1135,14 +1135,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -1170,7 +1170,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -1191,35 +1191,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1254,19 +1254,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="5.57722e-06" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="5.29845e-06" iyz="-1.59685e-07" izz="1.87724e-06"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1275,14 +1275,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -1312,7 +1312,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -1358,12 +1358,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
+      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000159621" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.000222574" iyz="1.20112e-06" izz="0.000120056"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1372,15 +1372,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
-    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
+    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -1409,7 +1409,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
+    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -1446,7 +1446,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13352e-05" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="5.86823e-05" iyz="3.9319e-06" izz="9.68469e-05"/>
     </inertial>
@@ -1476,7 +1476,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -1497,7 +1497,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -1506,35 +1506,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1555,7 +1555,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -1576,7 +1576,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -1611,35 +1611,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1653,7 +1653,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1674,19 +1674,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="5.56774e-06" ixy="3.08362e-08" ixz="9.42153e-07" iyy="5.28838e-06" iyz="-1.58924e-07" izz="1.87579e-06"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1695,14 +1695,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1732,7 +1732,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1748,12 +1748,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1762,7 +1762,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1778,12 +1778,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0011062999999999976 1.730000000001175e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0011062999999999906 1.7299999999997873e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.415987"/>
       <inertia ixx="0.000475741" ixy="2.89355e-07" ixz="-6.72876e-08" iyy="0.000279828" iyz="6.7417e-06" izz="0.000307828"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1792,14 +1792,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
+    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1808,12 +1808,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.00012290000000000217 -0.0002822999999999992 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012289999999999524 -0.00028229999999998534 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="3.27938e-05" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="5.69957e-05" iyz="3.32338e-08" izz="3.26449e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1822,26 +1822,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008301999999999962 7.519999999999749e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008301999999999893 7.519999999998361e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868999999999913 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868999999999982 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1850,7 +1850,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1866,7 +1866,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.051256699999999995 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.05125669999999999 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1880,12 +1880,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.0009997999999999951 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.000999800000000002 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1894,7 +1894,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1910,12 +1910,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015153099999999989 0.0009020000000000139 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.015153099999999996 0.000902 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447429734460005" ixy="-1.1322603878053663e-06" ixz="3.046651057758992e-05" iyy="0.0004478873540695352" iyz="2.5726583414130826e-06" izz="0.0003076030453774591"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1924,7 +1924,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1940,12 +1940,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011446999999999985 3.599999999992498e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0011447000000000054 3.5999999999786203e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.265122"/>
       <inertia ixx="0.000327222" ixy="-4.74606e-08" ixz="4.94571e-08" iyy="0.000248285" iyz="-4.29975e-06" izz="0.000150937"/>
     </inertial>
     <visual>
-      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1954,7 +1954,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1991,7 +1991,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.003500000000000003 0 -0.0605" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.003499999999999996 0 -0.0605" rpy="3.141592653589793 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2658,13 +2658,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2706,13 +2706,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2754,13 +2754,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2778,13 +2778,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2814,13 +2814,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2838,13 +2838,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2862,13 +2862,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -3004,24 +3004,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -3063,13 +3063,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
@@ -3087,178 +3087,178 @@
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07847939999999999 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
+      <pose>0.07847939999999998 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999999 -0.011812200000000009 -0.001214999999999966"/>
+    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999998 -0.011812200000000009 -0.001214999999999966"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012577000000000012 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.012577000000000005 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000012 -0.04040720000000002 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000005 -0.04040720000000002 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012575000000000003 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012574999999999996 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575000000000003 0.04040679999999998 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012574999999999996 0.04040679999999998 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013081000000000016 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.01308100000000001 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000016 -0.04040720000000002 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.01308100000000001 -0.04040720000000002 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013079 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.013078999999999993 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013079 0.04040679999999998 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999993 0.04040679999999998 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.042001689999999994 0.03156479999999999 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
+      <pose>0.04200169 0.03156479999999999 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.042001689999999994 0.03156479999999999 0.04913199999999998"/>
+    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.04200169 0.03156479999999999 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352114999999998 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352114999999999 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999998 0.007765700000000014 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999999 0.007765700000000014 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999998 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053784999999999986 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999998 -0.014429400000000002 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429400000000002 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.03412954999999998 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412954999999999 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999998 -0.0414999 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999999 -0.0414999 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.04378499999999999 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043785 0.017810999999999994 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999999 0.017810999999999994 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378500000000001 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.043785000000000004 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378500000000001 -0.014191800000000011 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785000000000004 -0.014191800000000011 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351379199999999 0.011314499999999963 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.043513791999999996 0.011314499999999963 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351379199999999 0.011314499999999963 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.043513791999999996 0.011314499999999963 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450335399999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.044503353999999995 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450335399999999 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503353999999995 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053133529999999984 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.05313352999999999 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133529999999984 0.017184099999999994 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313352999999999 0.017184099999999994 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
@@ -3276,25 +3276,25 @@
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915199999999996 0.04274479999999997 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.025915200000000003 0.04274479999999997 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915199999999996 0.04274479999999997 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.025915200000000003 0.04274479999999997 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999977 -0.041718700000000025 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
+      <pose>0.018459299999999984 -0.041718700000000025 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999977 -0.041718700000000025 -0.09295800000000004"/>
+    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999984 -0.041718700000000025 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
@@ -3368,45 +3368,45 @@
     <sensor name="l_upper_leg_ft_acc_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_acc_3b12" type="accelerometer">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_hip_2">
     <sensor name="l_upper_leg_ft_gyro_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_gyro_3b12" type="gyroscope">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_acc_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_acc_3b13" type="accelerometer">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_gyro_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_gyro_3b13" type="gyroscope">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
   </sensor>
   <gazebo>
     <pose>0.0 0.0 0.63 0.0 0.0 3.14</pose>
diff --git a/iCub/robots/iCubGenova02/model.urdf b/iCub/robots/iCubGenova02/model.urdf
index 188d3d3..612b79d 100644
--- a/iCub/robots/iCubGenova02/model.urdf
+++ b/iCub/robots/iCubGenova02/model.urdf
@@ -247,12 +247,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
+      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000158626" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.000206526" iyz="1.19785e-06" izz="0.000104956"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -261,15 +261,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
-    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
+    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -298,7 +298,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
+    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -335,12 +335,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13344e-05" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="5.86947e-05" iyz="3.92498e-06" izz="9.68353e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -349,7 +349,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -365,7 +365,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -386,7 +386,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -395,35 +395,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -444,14 +444,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -479,7 +479,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -500,35 +500,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -542,7 +542,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -563,19 +563,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="5.57722e-06" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="5.29845e-06" iyz="-1.59685e-07" izz="1.87724e-06"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -584,14 +584,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -621,7 +621,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -667,12 +667,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
+      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000159621" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.000222574" iyz="1.20112e-06" izz="0.000120056"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -681,15 +681,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
-    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
+    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -718,7 +718,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
+    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -755,7 +755,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13352e-05" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="5.86823e-05" iyz="3.9319e-06" izz="9.68469e-05"/>
     </inertial>
@@ -785,7 +785,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -806,7 +806,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -815,35 +815,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -864,7 +864,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -885,7 +885,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -920,35 +920,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -962,7 +962,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -983,19 +983,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="5.56774e-06" ixy="3.08362e-08" ixz="9.42153e-07" iyy="5.28838e-06" iyz="-1.58924e-07" izz="1.87579e-06"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1004,14 +1004,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1041,7 +1041,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1057,12 +1057,12 @@
   </joint>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1071,7 +1071,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.058310299999999995 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
+    <origin xyz="0.058310299999999995 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1247,7 +1247,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208552 0.03044339999999998 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
+    <origin xyz="0.05208552 0.03044339999999998 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -1275,7 +1275,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999999 -0.03117600000000001 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
+    <origin xyz="0.05504769999999999 -0.03117600000000001 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -1303,21 +1303,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.035753400000000005 0.04106279999999999 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
+    <origin xyz="0.035753400000000005 0.04106279999999999 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.023441900000000012 0.04799079999999998 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
+    <origin xyz="0.023441900000000012 0.04799079999999998 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.02427040000000001 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
+    <origin xyz="0.02427040000000001 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -1352,14 +1352,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.047748659999999984 -0.031231999999999996 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
+    <origin xyz="0.047748659999999984 -0.031231999999999996 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322408999999999 -0.01560180000000004 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
+    <origin xyz="0.05322408999999999 -0.01560180000000004 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -1373,21 +1373,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880466999999999 -0.031263 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
+    <origin xyz="0.04880466999999999 -0.031263 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999999 -0.01591290000000002 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
+    <origin xyz="0.05660089999999999 -0.01591290000000002 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.057010599999999995 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
+    <origin xyz="0.057010599999999995 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -1408,14 +1408,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641629999999995 0.01763889999999997 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
+    <origin xyz="0.052641629999999995 0.01763889999999997 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113137 0.032438499999999953 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
+    <origin xyz="0.04113137 0.032438499999999953 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -1436,7 +1436,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998319999999995 0.0012663999999999592 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
+    <origin xyz="0.052998319999999995 0.0012663999999999592 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -1450,7 +1450,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127079999999986 -0.030749000000000026 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
+    <origin xyz="0.045127079999999986 -0.030749000000000026 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -1485,12 +1485,12 @@
   </joint>
   <link name="r_ankle_1">
     <inertial>
-      <origin xyz="0.015143405473968807 -0.0008685000000000082 4.2859082720503316e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.015143405473968821 -0.0008685000000000082 4.2859082720503316e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.6803"/>
       <inertia ixx="0.0004046207392315529" ixy="8.523488844593136e-06" ixz="-2.8913590319053794e-05" iyy="0.0004379396781535379" iyz="3.7330395179426065e-05" izz="0.00031892819418424145"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272424511755 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424511754 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1499,7 +1499,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272424511755 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424511754 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1515,12 +1515,12 @@
   </joint>
   <link name="r_ankle_2">
     <inertial>
-      <origin xyz="0.0011452157753235048 -8.299999999988872e-06 -0.038511854107377785" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.0011452157753235187 -8.299999999988872e-06 -0.038511854107377785" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.265337"/>
       <inertia ixx="0.000327646" ixy="-7.94989e-08" ixz="8.24551e-09" iyy="0.000244632" iyz="2.0701e-05" izz="0.000155777"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272442308745 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442308744 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1529,7 +1529,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272442308745 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442308744 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1537,7 +1537,7 @@
   </link>
   <joint name="r_ankle_roll" type="revolute">
     <origin xyz="0 0 0" rpy="0 0 0"/>
-    <axis xyz="-1.0000001561184808 -6.013654019199066e-16 1.197939497389039e-07"/>
+    <axis xyz="-1.0000001561184808 -6.013654019199066e-16 1.1979394973216095e-07"/>
     <parent link="r_ankle_1"/>
     <child link="r_ankle_2"/>
     <limit effort="37.0" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="7.64"/>
@@ -1545,12 +1545,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.039779742643594365 0.004553699994905444 -0.006311816589999797" rpy="-1.832595507822573 0 -1.5707963267948983"/>
+      <origin xyz="0.039779742643594365 0.004553699994905444 -0.006311816589999797" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
       <mass value="0.357881"/>
       <inertia ixx="0.00109611" ixy="-2.9193e-07" ixz="-3.70109e-05" iyy="0.00125706" iyz="5.10952e-06" izz="0.000215359"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.832595507822573 0 -1.5707963267948983"/>
+      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1559,14 +1559,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.832595507822573 0 -1.5707963267948983"/>
+      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.0034999280659716164 0 -0.060500343280208146" rpy="3.141592652417863 0 0"/>
+    <origin xyz="-0.0034999280659716026 0 -0.060500343280208146" rpy="3.141592652417863 0 0"/>
     <parent link="r_ankle_2"/>
     <child link="r_foot"/>
     <dynamics damping="0.1"/>
@@ -1580,12 +1580,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1594,7 +1594,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1610,12 +1610,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0015761999999999998 -1.939999999998887e-05 -0.04405299999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0015761999999999929 -1.940000000000275e-05 -0.04405299999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.421106"/>
       <inertia ixx="0.000494284" ixy="1.5483e-07" ixz="-1.86308e-07" iyy="0.000288736" iyz="1.52962e-05" izz="0.000319008"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1624,14 +1624,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
+    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1640,12 +1640,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.0001229999999999981 -0.000282300000000027 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012299999999999117 -0.0002823000000000131 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="3.27938e-05" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="5.69957e-05" iyz="3.32338e-08" izz="3.26449e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370899980932098 0.07010000000001013 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.043708999809320984 0.07010000000001014 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1654,26 +1654,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370899980932098 0.07010000000001013 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.043708999809320984 0.07010000000001014 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008575000000000041 0 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008574999999999972 0 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868000000000023 0.00010179999999999911 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868000000000092 0.00010179999999999911 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370899980932098 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043708999809320984 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1682,7 +1682,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370899980932098 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043708999809320984 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1698,7 +1698,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.05125669999999998 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.051256699999999975 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1712,12 +1712,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.0009997000000000061 0.0034968999999999834 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.000999700000000013 0.0034968999999999834 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370899980931698 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980931699 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1726,7 +1726,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370899980931698 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980931699 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1742,12 +1742,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015152971856010333 0.0009021000000000029 4.2316556559285345e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.015152971856010347 0.0009021000000000029 4.2316556559285345e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447618553062084" ixy="-8.97867775831874e-06" ixz="2.9134846047326194e-05" iyy="0.00043720150287133953" iyz="3.730206268073148e-05" izz="0.00031828795462876227"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272424516864 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424516862 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1756,7 +1756,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272424516864 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424516862 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1772,12 +1772,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011452157753235326 -8.299999999974994e-06 -0.038511854107377674" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.0011452157753235465 -8.299999999974994e-06 -0.038511854107377674" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.265337"/>
       <inertia ixx="0.000327646" ixy="-7.94989e-08" ixz="8.24551e-09" iyy="0.000244632" iyz="2.0701e-05" izz="0.000155777"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272442313178 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442313177 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1786,7 +1786,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272442313178 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442313177 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1794,7 +1794,7 @@
   </link>
   <joint name="l_ankle_roll" type="revolute">
     <origin xyz="0 0 0" rpy="0 0 0"/>
-    <axis xyz="1.0000001561184808 6.013654019199066e-16 -1.197939497389039e-07"/>
+    <axis xyz="1.0000001561184808 6.013654019199066e-16 -1.1979394973216095e-07"/>
     <parent link="l_ankle_1"/>
     <child link="l_ankle_2"/>
     <limit effort="37.0" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="7.64"/>
@@ -1823,7 +1823,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.0034999280659716164 0 -0.060500343280208146" rpy="-3.141592643239301 0 0"/>
+    <origin xyz="-0.0034999280659716026 0 -0.060500343280208146" rpy="-3.141592643239301 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2315,13 +2315,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2363,13 +2363,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2411,13 +2411,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2435,13 +2435,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2471,13 +2471,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2495,13 +2495,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2519,13 +2519,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -2661,24 +2661,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351373 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04351373 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351373 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351373 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.044503292 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.044503292 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.044503292 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503292 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -2696,13 +2696,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0537517 0.01572289999999999 -0.0043179999999999885 -1.5707962918786202 -1.5706802104434698 -1.221730721500941</pose>
+      <pose>0.0537517 0.01572289999999999 -0.0043179999999999885 -1.5707962918765586 -1.5706802104434696 -1.2217307215014315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707962918786202 -1.5706802104434698 -1.221730721500941" xyz="0.0537517 0.01572289999999999 -0.0043179999999999885"/>
+    <origin rpy="-1.5707962918765586 -1.5706802104434696 -1.2217307215014315" xyz="0.0537517 0.01572289999999999 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b10" type="imu">
@@ -2720,238 +2720,238 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.01648010000000001 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.01648010000000001 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.01648010000000001 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.01648010000000001 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.11154352975660221 -0.00081220000825033 -0.022848096181402044 -0.26179918102765654 7.344347216498023e-08 -1.570796052699907</pose>
+      <pose>0.11154352975660221 -0.00081220000825033 -0.022848096181402044 -0.2617991810276566 7.344347213722464e-08 -1.5707960526999072</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b12" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="-0.26179918102765654 7.344347216498023e-08 -1.570796052699907" xyz="0.11154352975660221 -0.00081220000825033 -0.022848096181402044"/>
+    <origin rpy="-0.2617991810276566 7.344347213722464e-08 -1.5707960526999072" xyz="0.11154352975660221 -0.00081220000825033 -0.022848096181402044"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.08739538274799673 -0.011812200008250326 -0.016377625097255266 -0.26179918102766664 1.6098233857064772e-15 -1.5707963267948981</pose>
+      <pose>0.08739538274799673 -0.011812200008250326 -0.016377625097255266 -0.26179918102766675 1.5543122344752188e-15 -1.5707963267948986</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="-0.26179918102766664 1.6098233857064772e-15 -1.5707963267948981" xyz="0.08739538274799673 -0.011812200008250326 -0.016377625097255266"/>
+    <origin rpy="-0.26179918102766675 1.5543122344752188e-15 -1.5707963267948986" xyz="0.08739538274799673 -0.011812200008250326 -0.016377625097255266"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.0125771 -0.040407200000000004 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.012577099999999994 -0.040407200000000004 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.0125771 -0.040407200000000004 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577099999999994 -0.040407200000000004 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012575099999999992 0.040407 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012575099999999985 0.040407 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575099999999992 0.040407 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575099999999985 0.040407 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013081000000000002 -0.040407200000000004 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.013080999999999995 -0.040407200000000004 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000002 -0.040407200000000004 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013080999999999995 -0.040407200000000004 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013078999999999986 0.040407 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.01307899999999998 0.040407 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999986 0.040407 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.01307899999999998 0.040407 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04200163 0.03156500000000001 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
+      <pose>0.042001630000000005 0.03156500000000001 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.04200163 0.03156500000000001 0.04913199999999998"/>
+    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.042001630000000005 0.03156500000000001 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352108999999999 0.007765700000000028 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352109 0.007765700000000028 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352108999999999 0.007765700000000028 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352109 0.007765700000000028 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053785 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053785 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 -0.014429399999999995 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999999 -0.014429399999999995 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429399999999995 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 -0.014429399999999995 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.034129489999999985 -0.041499899999999985 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412948999999999 -0.041499899999999985 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.034129489999999985 -0.041499899999999985 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412948999999999 -0.041499899999999985 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043784999999999984 0.01781110000000001 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.04378499999999998 0.01781110000000001 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043784999999999984 0.01781110000000001 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999998 0.01781110000000001 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785 -0.014191799999999997 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.04378499999999999 -0.014191799999999997 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785 -0.014191799999999997 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378499999999999 -0.014191799999999997 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.043513729999999994 0.011314599999999966 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04351373 0.011314599999999966 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.043513729999999994 0.011314599999999966 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351373 0.011314599999999966 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450329199999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.044503292 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450329199999999 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503292 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053133469999999995 0.017184100000000008 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.05313347 0.017184100000000008 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133469999999995 0.017184100000000008 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313347 0.017184100000000008 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05445179999999999 -0.013799100000000002 -0.0043179999999999885 -1.5707963664504991 -1.5706802104435666 -1.919861927351539</pose>
+      <pose>0.054451799999999995 -0.013799100000000002 -0.0043179999999999885 -1.5707963664504991 -1.5706802104435666 -1.919861927351539</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b9" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707963664504991 -1.5706802104435666 -1.919861927351539" xyz="0.05445179999999999 -0.013799100000000002 -0.0043179999999999885"/>
+    <origin rpy="-1.5707963664504991 -1.5706802104435666 -1.919861927351539" xyz="0.054451799999999995 -0.013799100000000002 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915100000000003 0.042743999999999976 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.02591510000000001 0.042743999999999976 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915100000000003 0.042743999999999976 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.02591510000000001 0.042743999999999976 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999988 -0.04171870000000001 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
+      <pose>0.018459299999999994 -0.04171870000000001 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999988 -0.04171870000000001 -0.09295800000000004"/>
+    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999994 -0.04171870000000001 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
diff --git a/iCub/robots/iCubGenova04/model.urdf b/iCub/robots/iCubGenova04/model.urdf
index de1a7ce..bcb3414 100644
--- a/iCub/robots/iCubGenova04/model.urdf
+++ b/iCub/robots/iCubGenova04/model.urdf
@@ -23,12 +23,12 @@
   </link>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -37,7 +37,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -199,7 +199,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
+    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -213,7 +213,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
+    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -241,7 +241,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
+    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -269,21 +269,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
+    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
+    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
+    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -318,14 +318,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
+    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
+    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -339,21 +339,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
+    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
+    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
+    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -374,14 +374,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
+    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
+    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -402,7 +402,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
+    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -416,7 +416,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
+    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -511,12 +511,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.033600099999999994 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.03360009999999998 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.382866"/>
       <inertia ixx="0.00120946" ixy="3.74585e-07" ixz="-5.78759e-05" iyy="0.00141439" iyz="-7.80325e-06" izz="0.000273599"/>
     </inertial>
     <visual>
-      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -525,7 +525,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -539,14 +539,14 @@
   </joint>
   <link name="r_sole"/>
   <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.003500000000000003 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
+    <origin xyz="0.003499999999999996 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_0"/>
   <joint name="r_sole_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.060476699999999994 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.06047669999999999 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_0"/>
     <dynamics damping="0.1"/>
@@ -560,14 +560,14 @@
   </joint>
   <link name="r_sole_skin_2"/>
   <joint name="r_sole_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.09320869999999999 -0.032368 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.09320869999999998 -0.032368 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_3"/>
   <joint name="r_sole_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.11158309999999998 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.11158309999999996 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_3"/>
     <dynamics damping="0.1"/>
@@ -609,112 +609,112 @@
   </joint>
   <link name="r_sole_skin_12"/>
   <joint name="r_sole_skin_12_fixed_joint" type="fixed">
-    <origin xyz="0.08286799999999998 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.08286799999999997 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_12"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_13"/>
   <joint name="r_sole_skin_13_fixed_joint" type="fixed">
-    <origin xyz="0.10124239999999998 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.10124239999999997 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_13"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_14"/>
   <joint name="r_sole_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.050136039999999986 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.05013603999999998 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_14"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_15"/>
   <joint name="r_sole_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.04611918999999999 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.046119189999999984 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_17"/>
   <joint name="r_sole_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.02968549999999999 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.029685499999999997 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_18"/>
   <joint name="r_sole_skin_18_fixed_joint" type="fixed">
-    <origin xyz="-0.0480599 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.04805990000000001 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_18"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_19"/>
   <joint name="r_sole_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.052076700000000004 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.05207670000000001 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_20"/>
   <joint name="r_sole_skin_20_fixed_joint" type="fixed">
-    <origin xyz="-0.03771920000000001 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.037719200000000015 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_21"/>
   <joint name="r_sole_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.03577849999999999 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.03577849999999998 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_21"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_22"/>
   <joint name="r_sole_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.027744799999999997 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.02774479999999999 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_22"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_24"/>
   <joint name="r_sole_skin_24_fixed_joint" type="fixed">
-    <origin xyz="-0.004987199999999997 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.004987200000000004 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_24"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_25"/>
   <joint name="r_sole_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.013387200000000002 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.013387199999999995 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_25"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_26"/>
   <joint name="r_sole_skin_26_fixed_joint" type="fixed">
-    <origin xyz="0.017404099999999992 0.0133722 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.017404099999999985 0.0133722 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_26"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_27"/>
   <joint name="r_sole_skin_27_fixed_joint" type="fixed">
-    <origin xyz="0.0030464999999999867 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.0030464999999999798 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_27"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_28"/>
   <joint name="r_sole_skin_28_fixed_joint" type="fixed">
-    <origin xyz="-0.015327899999999992 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.015327899999999998 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_28"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_29"/>
   <joint name="r_sole_skin_29_fixed_joint" type="fixed">
-    <origin xyz="-0.019344799999999995 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.019344800000000002 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_29"/>
     <dynamics damping="0.1"/>
@@ -938,12 +938,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
+      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000158626" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.000206526" iyz="1.19785e-06" izz="0.000104956"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -952,15 +952,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
-    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
+    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -989,7 +989,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
+    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -1026,12 +1026,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13344e-05" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="5.86947e-05" iyz="3.92498e-06" izz="9.68353e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1040,7 +1040,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1056,7 +1056,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -1077,7 +1077,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -1086,35 +1086,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1135,14 +1135,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -1170,7 +1170,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -1191,35 +1191,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1254,19 +1254,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="5.57722e-06" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="5.29845e-06" iyz="-1.59685e-07" izz="1.87724e-06"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1275,14 +1275,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -1312,7 +1312,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -1358,12 +1358,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
+      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000159621" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.000222574" iyz="1.20112e-06" izz="0.000120056"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1372,15 +1372,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
-    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
+    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -1409,7 +1409,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
+    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -1446,7 +1446,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13352e-05" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="5.86823e-05" iyz="3.9319e-06" izz="9.68469e-05"/>
     </inertial>
@@ -1476,7 +1476,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -1497,7 +1497,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -1506,35 +1506,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1555,7 +1555,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -1576,7 +1576,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -1611,35 +1611,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1653,7 +1653,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1674,19 +1674,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="5.56774e-06" ixy="3.08362e-08" ixz="9.42153e-07" iyy="5.28838e-06" iyz="-1.58924e-07" izz="1.87579e-06"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1695,14 +1695,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1732,7 +1732,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1748,12 +1748,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1762,7 +1762,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1778,12 +1778,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0011062999999999976 1.730000000001175e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0011062999999999906 1.7299999999997873e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.415987"/>
       <inertia ixx="0.000475741" ixy="2.89355e-07" ixz="-6.72876e-08" iyy="0.000279828" iyz="6.7417e-06" izz="0.000307828"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1792,14 +1792,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
+    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1808,12 +1808,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.00012290000000000217 -0.0002822999999999992 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012289999999999524 -0.00028229999999998534 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="3.27938e-05" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="5.69957e-05" iyz="3.32338e-08" izz="3.26449e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1822,26 +1822,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008301999999999962 7.519999999999749e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008301999999999893 7.519999999998361e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868999999999913 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868999999999982 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1850,7 +1850,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1866,7 +1866,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.051256699999999995 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.05125669999999999 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1880,12 +1880,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.0009997999999999951 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.000999800000000002 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1894,7 +1894,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1910,12 +1910,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015153099999999989 0.0009020000000000139 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.015153099999999996 0.000902 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447429734460005" ixy="-1.1322603878053663e-06" ixz="3.046651057758992e-05" iyy="0.0004478873540695352" iyz="2.5726583414130826e-06" izz="0.0003076030453774591"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1924,7 +1924,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1940,12 +1940,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011446999999999985 3.599999999992498e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0011447000000000054 3.5999999999786203e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.265122"/>
       <inertia ixx="0.000327222" ixy="-4.74606e-08" ixz="4.94571e-08" iyy="0.000248285" iyz="-4.29975e-06" izz="0.000150937"/>
     </inertial>
     <visual>
-      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1954,7 +1954,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1991,7 +1991,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.003500000000000003 0 -0.0605" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.003499999999999996 0 -0.0605" rpy="3.141592653589793 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2658,13 +2658,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2706,13 +2706,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2754,13 +2754,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2778,13 +2778,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2814,13 +2814,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2838,13 +2838,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2862,13 +2862,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -3004,24 +3004,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -3063,13 +3063,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
@@ -3087,178 +3087,178 @@
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07847939999999999 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
+      <pose>0.07847939999999998 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999999 -0.011812200000000009 -0.001214999999999966"/>
+    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999998 -0.011812200000000009 -0.001214999999999966"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012577000000000012 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.012577000000000005 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000012 -0.04040720000000002 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000005 -0.04040720000000002 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012575000000000003 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012574999999999996 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575000000000003 0.04040679999999998 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012574999999999996 0.04040679999999998 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013081000000000016 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.01308100000000001 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000016 -0.04040720000000002 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.01308100000000001 -0.04040720000000002 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013079 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.013078999999999993 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013079 0.04040679999999998 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999993 0.04040679999999998 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.042001689999999994 0.03156479999999999 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
+      <pose>0.04200169 0.03156479999999999 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.042001689999999994 0.03156479999999999 0.04913199999999998"/>
+    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.04200169 0.03156479999999999 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352114999999998 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352114999999999 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999998 0.007765700000000014 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999999 0.007765700000000014 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999998 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053784999999999986 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999998 -0.014429400000000002 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429400000000002 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.03412954999999998 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412954999999999 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999998 -0.0414999 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999999 -0.0414999 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.04378499999999999 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043785 0.017810999999999994 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999999 0.017810999999999994 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378500000000001 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.043785000000000004 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378500000000001 -0.014191800000000011 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785000000000004 -0.014191800000000011 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351379199999999 0.011314499999999963 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.043513791999999996 0.011314499999999963 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
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+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.043513791999999996 0.011314499999999963 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450335399999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.044503353999999995 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450335399999999 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503353999999995 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053133529999999984 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.05313352999999999 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133529999999984 0.017184099999999994 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313352999999999 0.017184099999999994 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
@@ -3276,25 +3276,25 @@
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915199999999996 0.04274479999999997 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.025915200000000003 0.04274479999999997 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915199999999996 0.04274479999999997 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.025915200000000003 0.04274479999999997 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999977 -0.041718700000000025 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
+      <pose>0.018459299999999984 -0.041718700000000025 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999977 -0.041718700000000025 -0.09295800000000004"/>
+    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999984 -0.041718700000000025 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
@@ -3368,45 +3368,45 @@
     <sensor name="l_upper_leg_ft_acc_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_acc_3b12" type="accelerometer">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_hip_2">
     <sensor name="l_upper_leg_ft_gyro_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_gyro_3b12" type="gyroscope">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_acc_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_acc_3b13" type="accelerometer">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_gyro_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_gyro_3b13" type="gyroscope">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
   </sensor>
   <gazebo>
     <pose>0.0 0.0 0.63 0.0 0.0 3.14</pose>
diff --git a/iCub/robots/iCubGenova04_plus/model.urdf b/iCub/robots/iCubGenova04_plus/model.urdf
index 188d3d3..612b79d 100644
--- a/iCub/robots/iCubGenova04_plus/model.urdf
+++ b/iCub/robots/iCubGenova04_plus/model.urdf
@@ -247,12 +247,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
+      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000158626" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.000206526" iyz="1.19785e-06" izz="0.000104956"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -261,15 +261,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
-    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
+    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -298,7 +298,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
+    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -335,12 +335,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13344e-05" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="5.86947e-05" iyz="3.92498e-06" izz="9.68353e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -349,7 +349,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -365,7 +365,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -386,7 +386,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -395,35 +395,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -444,14 +444,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -479,7 +479,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -500,35 +500,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -542,7 +542,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -563,19 +563,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="5.57722e-06" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="5.29845e-06" iyz="-1.59685e-07" izz="1.87724e-06"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -584,14 +584,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -621,7 +621,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -667,12 +667,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
+      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000159621" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.000222574" iyz="1.20112e-06" izz="0.000120056"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -681,15 +681,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
-    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
+    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -718,7 +718,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
+    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -755,7 +755,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13352e-05" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="5.86823e-05" iyz="3.9319e-06" izz="9.68469e-05"/>
     </inertial>
@@ -785,7 +785,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -806,7 +806,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -815,35 +815,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -864,7 +864,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -885,7 +885,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -920,35 +920,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -962,7 +962,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -983,19 +983,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="5.56774e-06" ixy="3.08362e-08" ixz="9.42153e-07" iyy="5.28838e-06" iyz="-1.58924e-07" izz="1.87579e-06"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1004,14 +1004,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1041,7 +1041,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1057,12 +1057,12 @@
   </joint>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1071,7 +1071,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.058310299999999995 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
+    <origin xyz="0.058310299999999995 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1247,7 +1247,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208552 0.03044339999999998 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
+    <origin xyz="0.05208552 0.03044339999999998 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -1275,7 +1275,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999999 -0.03117600000000001 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
+    <origin xyz="0.05504769999999999 -0.03117600000000001 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -1303,21 +1303,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.035753400000000005 0.04106279999999999 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
+    <origin xyz="0.035753400000000005 0.04106279999999999 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.023441900000000012 0.04799079999999998 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
+    <origin xyz="0.023441900000000012 0.04799079999999998 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.02427040000000001 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
+    <origin xyz="0.02427040000000001 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -1352,14 +1352,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.047748659999999984 -0.031231999999999996 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
+    <origin xyz="0.047748659999999984 -0.031231999999999996 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322408999999999 -0.01560180000000004 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
+    <origin xyz="0.05322408999999999 -0.01560180000000004 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -1373,21 +1373,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880466999999999 -0.031263 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
+    <origin xyz="0.04880466999999999 -0.031263 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999999 -0.01591290000000002 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
+    <origin xyz="0.05660089999999999 -0.01591290000000002 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.057010599999999995 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
+    <origin xyz="0.057010599999999995 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -1408,14 +1408,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641629999999995 0.01763889999999997 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
+    <origin xyz="0.052641629999999995 0.01763889999999997 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113137 0.032438499999999953 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
+    <origin xyz="0.04113137 0.032438499999999953 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -1436,7 +1436,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998319999999995 0.0012663999999999592 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
+    <origin xyz="0.052998319999999995 0.0012663999999999592 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -1450,7 +1450,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127079999999986 -0.030749000000000026 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
+    <origin xyz="0.045127079999999986 -0.030749000000000026 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -1485,12 +1485,12 @@
   </joint>
   <link name="r_ankle_1">
     <inertial>
-      <origin xyz="0.015143405473968807 -0.0008685000000000082 4.2859082720503316e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.015143405473968821 -0.0008685000000000082 4.2859082720503316e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.6803"/>
       <inertia ixx="0.0004046207392315529" ixy="8.523488844593136e-06" ixz="-2.8913590319053794e-05" iyy="0.0004379396781535379" iyz="3.7330395179426065e-05" izz="0.00031892819418424145"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272424511755 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424511754 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1499,7 +1499,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272424511755 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424511754 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1515,12 +1515,12 @@
   </joint>
   <link name="r_ankle_2">
     <inertial>
-      <origin xyz="0.0011452157753235048 -8.299999999988872e-06 -0.038511854107377785" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.0011452157753235187 -8.299999999988872e-06 -0.038511854107377785" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.265337"/>
       <inertia ixx="0.000327646" ixy="-7.94989e-08" ixz="8.24551e-09" iyy="0.000244632" iyz="2.0701e-05" izz="0.000155777"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272442308745 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442308744 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1529,7 +1529,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272442308745 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442308744 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1537,7 +1537,7 @@
   </link>
   <joint name="r_ankle_roll" type="revolute">
     <origin xyz="0 0 0" rpy="0 0 0"/>
-    <axis xyz="-1.0000001561184808 -6.013654019199066e-16 1.197939497389039e-07"/>
+    <axis xyz="-1.0000001561184808 -6.013654019199066e-16 1.1979394973216095e-07"/>
     <parent link="r_ankle_1"/>
     <child link="r_ankle_2"/>
     <limit effort="37.0" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="7.64"/>
@@ -1545,12 +1545,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.039779742643594365 0.004553699994905444 -0.006311816589999797" rpy="-1.832595507822573 0 -1.5707963267948983"/>
+      <origin xyz="0.039779742643594365 0.004553699994905444 -0.006311816589999797" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
       <mass value="0.357881"/>
       <inertia ixx="0.00109611" ixy="-2.9193e-07" ixz="-3.70109e-05" iyy="0.00125706" iyz="5.10952e-06" izz="0.000215359"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.832595507822573 0 -1.5707963267948983"/>
+      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1559,14 +1559,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.832595507822573 0 -1.5707963267948983"/>
+      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.0034999280659716164 0 -0.060500343280208146" rpy="3.141592652417863 0 0"/>
+    <origin xyz="-0.0034999280659716026 0 -0.060500343280208146" rpy="3.141592652417863 0 0"/>
     <parent link="r_ankle_2"/>
     <child link="r_foot"/>
     <dynamics damping="0.1"/>
@@ -1580,12 +1580,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1594,7 +1594,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1610,12 +1610,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0015761999999999998 -1.939999999998887e-05 -0.04405299999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0015761999999999929 -1.940000000000275e-05 -0.04405299999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.421106"/>
       <inertia ixx="0.000494284" ixy="1.5483e-07" ixz="-1.86308e-07" iyy="0.000288736" iyz="1.52962e-05" izz="0.000319008"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1624,14 +1624,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
+    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1640,12 +1640,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.0001229999999999981 -0.000282300000000027 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012299999999999117 -0.0002823000000000131 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="3.27938e-05" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="5.69957e-05" iyz="3.32338e-08" izz="3.26449e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370899980932098 0.07010000000001013 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.043708999809320984 0.07010000000001014 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1654,26 +1654,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370899980932098 0.07010000000001013 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.043708999809320984 0.07010000000001014 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008575000000000041 0 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008574999999999972 0 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868000000000023 0.00010179999999999911 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868000000000092 0.00010179999999999911 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370899980932098 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043708999809320984 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1682,7 +1682,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370899980932098 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043708999809320984 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1698,7 +1698,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.05125669999999998 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.051256699999999975 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1712,12 +1712,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.0009997000000000061 0.0034968999999999834 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.000999700000000013 0.0034968999999999834 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370899980931698 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980931699 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1726,7 +1726,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370899980931698 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980931699 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1742,12 +1742,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015152971856010333 0.0009021000000000029 4.2316556559285345e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.015152971856010347 0.0009021000000000029 4.2316556559285345e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447618553062084" ixy="-8.97867775831874e-06" ixz="2.9134846047326194e-05" iyy="0.00043720150287133953" iyz="3.730206268073148e-05" izz="0.00031828795462876227"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272424516864 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424516862 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1756,7 +1756,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272424516864 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424516862 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1772,12 +1772,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011452157753235326 -8.299999999974994e-06 -0.038511854107377674" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.0011452157753235465 -8.299999999974994e-06 -0.038511854107377674" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.265337"/>
       <inertia ixx="0.000327646" ixy="-7.94989e-08" ixz="8.24551e-09" iyy="0.000244632" iyz="2.0701e-05" izz="0.000155777"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272442313178 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442313177 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1786,7 +1786,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272442313178 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442313177 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1794,7 +1794,7 @@
   </link>
   <joint name="l_ankle_roll" type="revolute">
     <origin xyz="0 0 0" rpy="0 0 0"/>
-    <axis xyz="1.0000001561184808 6.013654019199066e-16 -1.197939497389039e-07"/>
+    <axis xyz="1.0000001561184808 6.013654019199066e-16 -1.1979394973216095e-07"/>
     <parent link="l_ankle_1"/>
     <child link="l_ankle_2"/>
     <limit effort="37.0" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="7.64"/>
@@ -1823,7 +1823,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.0034999280659716164 0 -0.060500343280208146" rpy="-3.141592643239301 0 0"/>
+    <origin xyz="-0.0034999280659716026 0 -0.060500343280208146" rpy="-3.141592643239301 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2315,13 +2315,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2363,13 +2363,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2411,13 +2411,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2435,13 +2435,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2471,13 +2471,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2495,13 +2495,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2519,13 +2519,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -2661,24 +2661,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351373 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04351373 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351373 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351373 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.044503292 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.044503292 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.044503292 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503292 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -2696,13 +2696,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0537517 0.01572289999999999 -0.0043179999999999885 -1.5707962918786202 -1.5706802104434698 -1.221730721500941</pose>
+      <pose>0.0537517 0.01572289999999999 -0.0043179999999999885 -1.5707962918765586 -1.5706802104434696 -1.2217307215014315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707962918786202 -1.5706802104434698 -1.221730721500941" xyz="0.0537517 0.01572289999999999 -0.0043179999999999885"/>
+    <origin rpy="-1.5707962918765586 -1.5706802104434696 -1.2217307215014315" xyz="0.0537517 0.01572289999999999 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b10" type="imu">
@@ -2720,238 +2720,238 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.01648010000000001 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.01648010000000001 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.01648010000000001 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.01648010000000001 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
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   </gazebo>
   <sensor name="r_foot_mtb_acc_11b12" type="accelerometer">
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   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
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   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.0125771 -0.040407200000000004 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.0125771 -0.040407200000000004 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577099999999994 -0.040407200000000004 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012575099999999992 0.040407 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012575099999999985 0.040407 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575099999999992 0.040407 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575099999999985 0.040407 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013081000000000002 -0.040407200000000004 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.013080999999999995 -0.040407200000000004 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000002 -0.040407200000000004 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013080999999999995 -0.040407200000000004 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013078999999999986 0.040407 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.01307899999999998 0.040407 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999986 0.040407 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.01307899999999998 0.040407 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04200163 0.03156500000000001 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
+      <pose>0.042001630000000005 0.03156500000000001 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.04200163 0.03156500000000001 0.04913199999999998"/>
+    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.042001630000000005 0.03156500000000001 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352108999999999 0.007765700000000028 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352109 0.007765700000000028 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352108999999999 0.007765700000000028 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352109 0.007765700000000028 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053785 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053785 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 -0.014429399999999995 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999999 -0.014429399999999995 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429399999999995 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 -0.014429399999999995 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.034129489999999985 -0.041499899999999985 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412948999999999 -0.041499899999999985 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.034129489999999985 -0.041499899999999985 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412948999999999 -0.041499899999999985 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043784999999999984 0.01781110000000001 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.04378499999999998 0.01781110000000001 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043784999999999984 0.01781110000000001 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999998 0.01781110000000001 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785 -0.014191799999999997 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.04378499999999999 -0.014191799999999997 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785 -0.014191799999999997 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378499999999999 -0.014191799999999997 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.043513729999999994 0.011314599999999966 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04351373 0.011314599999999966 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.043513729999999994 0.011314599999999966 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351373 0.011314599999999966 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450329199999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.044503292 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450329199999999 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503292 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053133469999999995 0.017184100000000008 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.05313347 0.017184100000000008 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133469999999995 0.017184100000000008 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313347 0.017184100000000008 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05445179999999999 -0.013799100000000002 -0.0043179999999999885 -1.5707963664504991 -1.5706802104435666 -1.919861927351539</pose>
+      <pose>0.054451799999999995 -0.013799100000000002 -0.0043179999999999885 -1.5707963664504991 -1.5706802104435666 -1.919861927351539</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b9" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707963664504991 -1.5706802104435666 -1.919861927351539" xyz="0.05445179999999999 -0.013799100000000002 -0.0043179999999999885"/>
+    <origin rpy="-1.5707963664504991 -1.5706802104435666 -1.919861927351539" xyz="0.054451799999999995 -0.013799100000000002 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915100000000003 0.042743999999999976 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.02591510000000001 0.042743999999999976 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915100000000003 0.042743999999999976 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.02591510000000001 0.042743999999999976 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999988 -0.04171870000000001 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
+      <pose>0.018459299999999994 -0.04171870000000001 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999988 -0.04171870000000001 -0.09295800000000004"/>
+    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999994 -0.04171870000000001 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
diff --git a/iCub/robots/iCubGenova09/model.urdf b/iCub/robots/iCubGenova09/model.urdf
index 3b28035..61cda2d 100644
--- a/iCub/robots/iCubGenova09/model.urdf
+++ b/iCub/robots/iCubGenova09/model.urdf
@@ -398,12 +398,12 @@
   </joint>
   <link name="l_shoulder_1">
     <inertial>
-      <origin xyz="0.0002918276617865645 0.05723090680782866 0.0005026028232598678" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
+      <origin xyz="0.0002918276617865645 0.05723090680782866 0.0005026028232598713" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
       <mass value="1.45562"/>
       <inertia ixx="0.00109517" ixy="0.000611891" ixz="0.000565594" iyy="0.00306956" iyz="-0.000159546" izz="0.00307951"/>
     </inertial>
     <visual>
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+      <origin xyz="0.030411223823216205 -0.02914047750374663 0.019095766539677896" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_1_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -412,7 +412,7 @@
       </material>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_1_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -420,7 +420,7 @@
   </link>
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     <origin xyz="-0.020835100000000002 0.0397423 0.1052029" rpy="0.25326162380993705 -1.1977334179319483e-07 -0.26179930184968747"/>
-    <axis xyz="3.323079797554136e-07 0.9999999783534342 1.4452224303420037e-07"/>
+    <axis xyz="3.323079797673039e-07 0.9999999783534342 1.4452224303407313e-07"/>
     <parent link="chest"/>
     <child link="l_shoulder_1"/>
     <limit effort="50000" lower="-1.53588974175501" upper="0.22689280275926285" velocity="120.0"/>
@@ -428,12 +428,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.003293362025486902 0.0002563804707528261 -0.027865685757097337" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="0.0032933620254868984 0.0002563804707528261 -0.027865685757097337" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -442,15 +442,15 @@
       </material>
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   <joint name="l_shoulder_roll" type="revolute">
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-    <axis xyz="0.9999998262417685 2.0348252625938444e-07 -4.023022846062156e-08"/>
+    <origin xyz="0.004992849331690818 0.111499838456099 0.0002686502277366859" rpy="-0.17453296140985 -0.05374759931933852 0"/>
+    <axis xyz="0.9999998262417684 2.0348252649342313e-07 -4.0230228454118944e-08"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.20943951023931956" upper="2.792526803190927" velocity="120.0"/>
@@ -458,12 +458,12 @@
   </joint>
   <link name="l_shoulder_3">
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-      <origin xyz="-4.416264022005789e-06 9.587749727052453e-05 -0.007326213473011087" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="-4.41626402200232e-06 9.587749727052453e-05 -0.007326213473011087" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -472,26 +472,26 @@
       </material>
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   <joint name="l_arm_ft_sensor" type="fixed">
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+    <origin xyz="-0.004350133156978329 3.632573233880443e-07 -0.05430003872406172" rpy="0 0 0"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_arm">
     <inertial>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -500,15 +500,15 @@
       </material>
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       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
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   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0 -4.2345248449371375e-07 -0.022499941373124423" rpy="0 0 0"/>
-    <axis xyz="2.2276474049102235e-08 -4.393786247302041e-08 -1.0000002566182309"/>
+    <origin xyz="0 -4.2345248449371375e-07 -0.02249994137312443" rpy="0 0 0"/>
+    <axis xyz="2.227647404040578e-08 -4.393786245948661e-08 -1.0000002566182309"/>
     <parent link="l_shoulder_3"/>
     <child link="l_upper_arm"/>
     <limit effort="50000" lower="-0.8726646259971648" upper="1.3962634015954636" velocity="120.0"/>
@@ -516,12 +516,12 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="-0.010241946078109288 0.0018224069895867168 -0.015089620258555453" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="-0.010241946078109292 0.0018224069895867168 -0.01508962025855548" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
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       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_elbow_1_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -530,7 +530,7 @@
       </material>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_elbow_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -538,7 +538,7 @@
   </link>
   <joint name="l_elbow" type="revolute">
     <origin xyz="0.009999930234919404 -0.001499647423428896 -0.12370033753758375" rpy="0 0 0"/>
-    <axis xyz="-8.811824174789715e-08 -1.0000002733514628 4.404736120498342e-08"/>
+    <axis xyz="-8.811824154381087e-08 -1.0000002733514628 4.4047361189014644e-08"/>
     <parent link="l_upper_arm"/>
     <child link="l_elbow_1"/>
     <limit effort="50000" lower="-0.05235987755982989" upper="1.3089969389957472" velocity="120.0"/>
@@ -546,12 +546,12 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="-0.0062698741022980675 -4.68551245806359e-05 -0.030648347755607208" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="-0.006269874102298061 -4.68551245806359e-05 -0.030648347755607153" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_forearm_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -560,15 +560,15 @@
       </material>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_forearm_prt.stl" scale="0.001 0.001 0.001"/>
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   <joint name="l_wrist_prosup" type="revolute">
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-    <axis xyz="2.2276474049102235e-08 -4.393786247302041e-08 -1.0000002566182309"/>
+    <origin xyz="-0.014999870654177704 0.0019996435036348514 -0.055300063582479825" rpy="0 0 0"/>
+    <axis xyz="2.227647404040578e-08 -4.393786245948661e-08 -1.0000002566182309"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
     <limit effort="50000" lower="-1.53588974175501" upper="1.53588974175501" velocity="120.0"/>
@@ -576,12 +576,12 @@
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.014390150453737368 -0.0005083960996520864 -9.893035257668714e-05" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="-0.014390150453737368 -0.0005083960996520587 -9.893035257668714e-05" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -590,15 +590,15 @@
       </material>
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   <joint name="l_wrist_pitch" type="revolute">
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-    <axis xyz="-0.9999998262417685 -2.0348252625938444e-07 4.023022846062156e-08"/>
+    <origin xyz="0.016600015934286182 0.002006895218072541 -0.10749964114254112" rpy="0 0 0"/>
+    <axis xyz="-0.9999998262417684 -2.0348252649342313e-07 4.0230228454118944e-08"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
     <limit effort="50000" lower="-1.2217304763960306" upper="0.4363323129985824" velocity="120.0"/>
@@ -606,12 +606,12 @@
   </joint>
   <link name="l_hand">
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@@ -620,15 +620,15 @@
       </material>
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   <joint name="l_wrist_yaw" type="revolute">
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-    <axis xyz="8.811824174789715e-08 1.0000002733514628 -4.404736120498342e-08"/>
+    <origin xyz="-0.016300121744729387 -0.0069993926815711816 0" rpy="0 0 0"/>
+    <axis xyz="8.811824154381087e-08 1.0000002733514628 -4.4047361189014644e-08"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
     <limit effort="50000" lower="-0.2617993877991494" upper="0.6108652381980153" velocity="120.0"/>
@@ -658,7 +658,7 @@
   </link>
   <joint name="r_shoulder_pitch" type="revolute">
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+    <axis xyz="1.499044390054707e-07 0.9999999783534812 -1.2401537036188515e-07"/>
     <parent link="chest"/>
     <child link="r_shoulder_1"/>
     <limit effort="50000" lower="-1.53588974175501" upper="0.22689280275926285" velocity="120.0"/>
@@ -666,12 +666,12 @@
   </joint>
   <link name="r_shoulder_2">
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     <visual>
-      <origin xyz="0.02389326106684632 0.1415317167619924 -0.007252350207672714" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.023893261066846316 0.14153171676199236 -0.007252350207672715" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -680,15 +680,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.02389326106684632 0.1415317167619924 -0.007252350207672714" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.023893261066846316 0.14153171676199236 -0.007252350207672715" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="0.007489008185044645 -0.11150041046657978 0.0004027858966975245" rpy="0.17453306234069352 -0.05374779257913059 -6.132332688804098e-07"/>
-    <axis xyz="-0.9999998262417886 4.210501434612913e-08 2.4630481182686846e-08"/>
+    <origin xyz="0.007489008185044645 -0.11150041046657978 0.0004027858966975245" rpy="0.17453306234069357 -0.053747792579130614 -6.132332688812785e-07"/>
+    <axis xyz="-0.9999998262417886 4.2105014356162707e-08 2.4630481189336084e-08"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.20943951023931956" upper="2.792526803190927" velocity="120.0"/>
@@ -696,12 +696,12 @@
   </joint>
   <link name="r_shoulder_3">
     <inertial>
-      <origin xyz="-8.928496484206933e-05 -3.376971940446949e-05 -0.007594500252887257" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="-8.928496484206933e-05 -3.376971940446949e-05 -0.00759450025288725" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <mass value="0.258699"/>
       <inertia ixx="7.20362e-05" ixy="5.87638e-07" ixz="-2.8754e-06" iyy="7.22746e-05" iyz="-3.42816e-06" izz="0.000119776"/>
     </inertial>
     <visual>
-      <origin xyz="0.030743207452236198 0.1415314977120318 0.047047631370218286" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.030743207452236198 0.1415314977120318 0.04704763137021829" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -710,26 +710,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.030743207452236198 0.1415314977120318 0.047047631370218286" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.030743207452236198 0.1415314977120318 0.04704763137021829" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_arm_ft_sensor" type="fixed">
-    <origin xyz="-0.006849946385389872 2.1904996058697002e-07 -0.05429998157789099" rpy="0 0 0"/>
+    <origin xyz="-0.006849946385389875 2.1904996055921444e-07 -0.05429998157789099" rpy="0 0 0"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_upper_arm">
     <inertial>
-      <origin xyz="-4.827495476422694e-06 -0.001943485876269635 -0.04747357932833829" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="-4.8274954764261635e-06 -0.001943485876269635 -0.04747357932833829" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <mass value="2.06334"/>
       <inertia ixx="0.00382639" ixy="-5.03894e-06" ixz="0.000205684" iyy="0.00368146" iyz="0.000261155" izz="0.00167002"/>
     </inertial>
     <visual>
-      <origin xyz="0.03074312554381852 0.141531075879301 0.06954757274337188" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.030743125543818518 0.141531075879301 0.06954757274337188" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -738,15 +738,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.03074312554381852 0.141531075879301 0.06954757274337188" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.030743125543818518 0.141531075879301 0.06954757274337188" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="0 4.2183273077367467e-07 -0.02249994137315358" rpy="0 0 0"/>
-    <axis xyz="-3.787621790776764e-08 2.805197706023475e-08 1.0000002566182309"/>
+    <origin xyz="0 4.2183273077367467e-07 -0.022499941373153573" rpy="0 0 0"/>
+    <axis xyz="-3.787621790513063e-08 2.805197706068352e-08 1.0000002566182309"/>
     <parent link="r_shoulder_3"/>
     <child link="r_upper_arm"/>
     <limit effort="50000" lower="-0.8726646259971648" upper="1.3962634015954636" velocity="120.0"/>
@@ -754,12 +754,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.011624818009452066 -0.0018028159470199479 0.022300137248866647" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="-0.011624818009452066 -0.00180281594701992 0.022300137248866647" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <mass value="0.397478"/>
       <inertia ixx="0.00139406" ixy="5.80993e-06" ixz="5.27143e-05" iyy="0.00139077" iyz="6.49755e-05" izz="0.000397127"/>
     </inertial>
     <visual>
-      <origin xyz="0.020743193621214673 0.14003143574727356 0.19324791023291824" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.020743193621214673 0.14003143574727359 0.19324791023291824" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_elbow_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -768,15 +768,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.020743193621214673 0.14003143574727356 0.19324791023291824" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.020743193621214673 0.14003143574727359 0.19324791023291824" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_elbow_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_elbow" type="revolute">
-    <origin xyz="0.00999993192260382 0.0014996401320274133 -0.1237003374895465" rpy="0 0 0"/>
-    <axis xyz="2.4949582807394525e-07 -1.0000002733514362 2.7942487010105877e-08"/>
+    <origin xyz="0.009999931922603816 0.0014996401320274133 -0.1237003374895465" rpy="0 0 0"/>
+    <axis xyz="2.4949582809984105e-07 -1.0000002733514362 2.7942487004772865e-08"/>
     <parent link="r_upper_arm"/>
     <child link="r_elbow_1"/>
     <limit effort="50000" lower="-0.05235987755982989" upper="1.3089969389957472" velocity="120.0"/>
@@ -805,8 +805,8 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.014999869468812953 -0.0019996499053189787 -0.05530006367251966" rpy="0 0 0"/>
-    <axis xyz="-3.787621790776764e-08 2.805197706023475e-08 1.0000002566182309"/>
+    <origin xyz="-0.014999869468812953 -0.001999649905318951 -0.05530006367251966" rpy="0 0 0"/>
+    <axis xyz="-3.787621790513063e-08 2.805197706068352e-08 1.0000002566182309"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
     <limit effort="50000" lower="-1.53588974175501" upper="1.53588974175501" velocity="120.0"/>
@@ -814,12 +814,12 @@
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="-0.014389827079018234 0.0005092753390521787 -9.78731576423697e-05" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="-0.014389827079018234 0.0005092753390522065 -9.787315764231419e-05" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <mass value="0.0344005"/>
       <inertia ixx="5.11755e-06" ixy="9.19776e-07" ixz="1.47559e-08" iyy="1.60849e-06" iyz="-1.11493e-07" izz="5.58546e-06"/>
     </inertial>
     <visual>
-      <origin xyz="0.019443109736078983 0.14403852854340418 0.3560480536175445" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.019443109736078983 0.1440385285434042 0.35604805361754455" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -828,7 +828,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.019443109736078983 0.14403852854340418 0.3560480536175445" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.019443109736078983 0.1440385285434042 0.35604805361754455" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -836,7 +836,7 @@
   </link>
   <joint name="r_wrist_pitch" type="revolute">
     <origin xyz="0.016299953353948633 -0.002007442890811839 -0.10750007971210637" rpy="0 0 0"/>
-    <axis xyz="0.9999998262417886 -4.210501434612913e-08 -2.4630481182686846e-08"/>
+    <axis xyz="0.9999998262417886 -4.2105014356162707e-08 -2.4630481189336084e-08"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
     <limit effort="50000" lower="-1.2217304763960306" upper="0.4363323129985824" velocity="120.0"/>
@@ -844,12 +844,12 @@
   </joint>
   <link name="r_hand">
     <inertial>
-      <origin xyz="0.004828314385249669 0.00615667237451184 -0.0671378028889843" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.004828314385249662 0.00615667237451184 -0.0671378028889843" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <mass value="0.264229"/>
       <inertia ixx="0.000428764" ixy="4.7873e-05" ixz="1.1114e-05" iyy="0.000348073" iyz="1.14469e-05" izz="0.00016164"/>
     </inertial>
     <visual>
-      <origin xyz="0.03574323261035172 0.1370391384923124 0.35604813291443793" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.03574323261035171 0.1370391384923124 0.35604813291443793" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_hand_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -858,15 +858,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.03574323261035172 0.1370391384923124 0.35604813291443793" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.03574323261035171 0.1370391384923124 0.35604813291443793" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_hand_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="continuous">
-    <origin xyz="-0.016300122874272734 0.006999390051091792 0" rpy="0 0 0"/>
-    <axis xyz="-2.4949582807394525e-07 1.0000002733514362 -2.7942487010105877e-08"/>
+    <origin xyz="-0.016300122874272734 0.0069993900510918194 0" rpy="0 0 0"/>
+    <axis xyz="-2.4949582809984105e-07 1.0000002733514362 -2.7942487004772865e-08"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
     <dynamics damping="0.1"/>
@@ -1524,7 +1524,7 @@
         <frame>sensor</frame>
         <measure_direction>child_to_parent</measure_direction>
       </force_torque>
-      <pose>-0.004350133156978318 3.632573233602887e-07 -0.05430003872406172 3.141592646862139 -3.10468332187885e-08 -1.5707962571980942</pose>
+      <pose>-0.004350133156978329 3.632573233880443e-07 -0.05430003872406172 3.141592646862139 -3.104683320142575e-08 -1.5707962571980942</pose>
       <plugin name="left_arm_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
   <yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_left_arm_ft.ini</yarpConfigurationFile>
 </plugin>
@@ -1536,7 +1536,7 @@
       <frame>sensor</frame>
       <measure_direction>child_to_parent</measure_direction>
     </force_torque>
-    <origin rpy="3.141592646862139 -3.10468332187885e-08 -1.5707962571980942" xyz="-0.004350133156978318 3.632573233602887e-07 -0.05430003872406172"/>
+    <origin rpy="3.141592646862139 -3.104683320142575e-08 -1.5707962571980942" xyz="-0.004350133156978329 3.632573233880443e-07 -0.05430003872406172"/>
   </sensor>
   <gazebo reference="r_arm_ft_sensor">
     <sensor name="r_arm_ft_sensor" type="force_torque">
@@ -1546,7 +1546,7 @@
         <frame>sensor</frame>
         <measure_direction>child_to_parent</measure_direction>
       </force_torque>
-      <pose>-0.006849946385389872 2.1904996058697002e-07 -0.05429998157789099 3.141592644717707 4.094299285979593e-08 1.5707964185756365</pose>
+      <pose>-0.006849946385389875 2.1904996055921444e-07 -0.05429998157789099 3.141592644717707 4.094299285979593e-08 1.5707964185756365</pose>
       <plugin name="right_arm_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
   <yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_right_arm_ft.ini</yarpConfigurationFile>
 </plugin>
@@ -1558,7 +1558,7 @@
       <frame>sensor</frame>
       <measure_direction>child_to_parent</measure_direction>
     </force_torque>
-    <origin rpy="3.141592644717707 4.094299285979593e-08 1.5707964185756365" xyz="-0.006849946385389872 2.1904996058697002e-07 -0.05429998157789099"/>
+    <origin rpy="3.141592644717707 4.094299285979593e-08 1.5707964185756365" xyz="-0.006849946385389875 2.1904996055921444e-07 -0.05429998157789099"/>
   </sensor>
   <gazebo reference="l_foot_front_ft_sensor">
     <sensor name="l_foot_front_ft_sensor" type="force_torque">

From e8eb113f81fa8d4d76ae899c4eb5b2c0baafa62c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Nicol=C3=B2=20Genesio=20=28=E4=BA=8C=E3=82=B3=E3=82=B2?=
 =?UTF-8?q?=E3=83=8D=29?= <nicolo.genesio@iit.it>
Date: Thu, 28 Jan 2021 13:13:05 +0000
Subject: [PATCH 09/10] Automatic build. GitHub Actions build: 518010635
 icub-model-generator commit:
 robotology/icub-models-generator@5090736272aec2e339a9eb71b21d7f00744f991e
 urdf_parser_py commit:
 ros/urdf_parser_py@31474b9baaf7c3845b40e5a9aa87d5900a2282c3
 simmechanics-to-urdf commit:
 robotology/simmechanics-to-urdf@f6055ab8d627c45138ddde46532ea42a74b48caa

---
 .../meshes/simmechanics/sim_head_head_prt.stl |    58 +-
 .../simmechanics/sim_icub3_l_ankle_1_prt.stl  |  3450 +-
 .../sim_icub3_l_foot_front_prt.stl            |   904 +-
 .../sim_icub3_l_foot_rear_prt.stl             |   956 +-
 .../sim_icub3_l_lower_leg_prt.stl             | 47628 ++++++------
 .../simmechanics/sim_icub3_l_upperarm_prt.stl |  1800 +-
 .../simmechanics/sim_icub3_r_ankle_1_prt.stl  |  3470 +-
 .../simmechanics/sim_icub3_r_ankle_2_prt.stl  |  4080 +-
 .../sim_icub3_r_foot_front_prt.stl            |  1910 +-
 .../sim_icub3_r_foot_rear_prt.stl             |  1482 +-
 .../simmechanics/sim_icub3_r_hip_1_prt.stl    |  4030 +-
 .../simmechanics/sim_icub3_r_hip_2_prt.stl    | 63366 +++++++++-------
 .../simmechanics/sim_icub3_r_hip_3_prt.stl    | 16602 ++--
 .../sim_icub3_r_lower_leg_prt.stl             | 42196 +++++-----
 .../sim_icub3_r_upper_leg_prt.stl             |  8368 +-
 iCub/robots/iCubDarmstadt01/model.urdf        |   374 +-
 iCub/robots/iCubGazeboV2_5/model.urdf         |   372 +-
 iCub/robots/iCubGazeboV2_5_plus/model.urdf    |   346 +-
 iCub/robots/iCubGazeboV2_6/model.urdf         |   372 +-
 iCub/robots/iCubGazeboV2_7/model.urdf         |   372 +-
 iCub/robots/iCubGazeboV3/model.urdf           |  1114 +-
 iCub/robots/iCubGenova01/model.urdf           |   374 +-
 iCub/robots/iCubGenova02/model.urdf           |   348 +-
 iCub/robots/iCubGenova04/model.urdf           |   374 +-
 iCub/robots/iCubGenova04_plus/model.urdf      |   348 +-
 iCub/robots/iCubGenova09/model.urdf           |  1116 +-
 26 files changed, 108519 insertions(+), 97291 deletions(-)

diff --git a/iCub/meshes/simmechanics/sim_head_head_prt.stl b/iCub/meshes/simmechanics/sim_head_head_prt.stl
index 8436931..1797634 100644
--- a/iCub/meshes/simmechanics/sim_head_head_prt.stl
+++ b/iCub/meshes/simmechanics/sim_head_head_prt.stl
@@ -75270,14 +75270,14 @@ solid SIM_HEAD_HEAD
       vertex -1.149074e+01 -6.387703e+01 -9.537486e+00
     endloop
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diff --git a/iCub/meshes/simmechanics/sim_icub3_l_ankle_1_prt.stl b/iCub/meshes/simmechanics/sim_icub3_l_ankle_1_prt.stl
index 6b39a9a..f78e302 100644
--- a/iCub/meshes/simmechanics/sim_icub3_l_ankle_1_prt.stl
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diff --git a/iCub/meshes/simmechanics/sim_icub3_l_foot_front_prt.stl b/iCub/meshes/simmechanics/sim_icub3_l_foot_front_prt.stl
index 126e287..c299821 100644
--- a/iCub/meshes/simmechanics/sim_icub3_l_foot_front_prt.stl
+++ b/iCub/meshes/simmechanics/sim_icub3_l_foot_front_prt.stl
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diff --git a/iCub/meshes/simmechanics/sim_icub3_l_foot_rear_prt.stl b/iCub/meshes/simmechanics/sim_icub3_l_foot_rear_prt.stl
index a96aa91..8941b0d 100644
--- a/iCub/meshes/simmechanics/sim_icub3_l_foot_rear_prt.stl
+++ b/iCub/meshes/simmechanics/sim_icub3_l_foot_rear_prt.stl
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diff --git a/iCub/meshes/simmechanics/sim_icub3_l_lower_leg_prt.stl b/iCub/meshes/simmechanics/sim_icub3_l_lower_leg_prt.stl
index fffc0d7..d610cb9 100644
--- a/iCub/meshes/simmechanics/sim_icub3_l_lower_leg_prt.stl
+++ b/iCub/meshes/simmechanics/sim_icub3_l_lower_leg_prt.stl
@@ -1,17054 +1,18909 @@
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diff --git a/iCub/meshes/simmechanics/sim_icub3_l_upperarm_prt.stl b/iCub/meshes/simmechanics/sim_icub3_l_upperarm_prt.stl
index 0cb00a6..c662d11 100644
--- a/iCub/meshes/simmechanics/sim_icub3_l_upperarm_prt.stl
+++ b/iCub/meshes/simmechanics/sim_icub3_l_upperarm_prt.stl
@@ -1,1108 +1,1164 @@
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diff --git a/iCub/meshes/simmechanics/sim_icub3_r_ankle_1_prt.stl b/iCub/meshes/simmechanics/sim_icub3_r_ankle_1_prt.stl
index 2bdfe9a..a65560a 100644
--- a/iCub/meshes/simmechanics/sim_icub3_r_ankle_1_prt.stl
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diff --git a/iCub/meshes/simmechanics/sim_icub3_r_ankle_2_prt.stl b/iCub/meshes/simmechanics/sim_icub3_r_ankle_2_prt.stl
index dc480a7..1ff3fc1 100644
--- a/iCub/meshes/simmechanics/sim_icub3_r_ankle_2_prt.stl
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diff --git a/iCub/meshes/simmechanics/sim_icub3_r_foot_front_prt.stl b/iCub/meshes/simmechanics/sim_icub3_r_foot_front_prt.stl
index 7989f93..87817d1 100644
--- a/iCub/meshes/simmechanics/sim_icub3_r_foot_front_prt.stl
+++ b/iCub/meshes/simmechanics/sim_icub3_r_foot_front_prt.stl
@@ -1,1808 +1,842 @@
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diff --git a/iCub/meshes/simmechanics/sim_icub3_r_foot_rear_prt.stl b/iCub/meshes/simmechanics/sim_icub3_r_foot_rear_prt.stl
index e34d5e4..6ad4949 100644
--- a/iCub/meshes/simmechanics/sim_icub3_r_foot_rear_prt.stl
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diff --git a/iCub/meshes/simmechanics/sim_icub3_r_hip_1_prt.stl b/iCub/meshes/simmechanics/sim_icub3_r_hip_1_prt.stl
index a3edd26..f11762d 100644
--- a/iCub/meshes/simmechanics/sim_icub3_r_hip_1_prt.stl
+++ b/iCub/meshes/simmechanics/sim_icub3_r_hip_1_prt.stl
@@ -1,1156 +1,1156 @@
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diff --git a/iCub/meshes/simmechanics/sim_icub3_r_hip_2_prt.stl b/iCub/meshes/simmechanics/sim_icub3_r_hip_2_prt.stl
index 0369cd9..eea8baa 100644
--- a/iCub/meshes/simmechanics/sim_icub3_r_hip_2_prt.stl
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diff --git a/iCub/meshes/simmechanics/sim_icub3_r_hip_3_prt.stl b/iCub/meshes/simmechanics/sim_icub3_r_hip_3_prt.stl
index a6ce61b..12fdddb 100644
--- a/iCub/meshes/simmechanics/sim_icub3_r_hip_3_prt.stl
+++ b/iCub/meshes/simmechanics/sim_icub3_r_hip_3_prt.stl
@@ -1,14310 +1,14590 @@
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diff --git a/iCub/meshes/simmechanics/sim_icub3_r_lower_leg_prt.stl b/iCub/meshes/simmechanics/sim_icub3_r_lower_leg_prt.stl
index a5260c0..9d4fbe9 100644
--- a/iCub/meshes/simmechanics/sim_icub3_r_lower_leg_prt.stl
+++ b/iCub/meshes/simmechanics/sim_icub3_r_lower_leg_prt.stl
@@ -1,5833 +1,6008 @@
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diff --git a/iCub/meshes/simmechanics/sim_icub3_r_upper_leg_prt.stl b/iCub/meshes/simmechanics/sim_icub3_r_upper_leg_prt.stl
index 83a75f4..72be3c4 100644
--- a/iCub/meshes/simmechanics/sim_icub3_r_upper_leg_prt.stl
+++ b/iCub/meshes/simmechanics/sim_icub3_r_upper_leg_prt.stl
@@ -1,5980 +1,7548 @@
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+      vertex 9.315800e+01 6.845917e+01 -5.822184e+02
+      vertex 9.755000e+01 6.125515e+01 -5.929079e+02
+      vertex 9.346122e+01 6.838595e+01 -5.927655e+02
     endloop
   endfacet
 endsolid SIM_ICUB3_R_UPPER_LEG
diff --git a/iCub/robots/iCubDarmstadt01/model.urdf b/iCub/robots/iCubDarmstadt01/model.urdf
index 1acd7d5..676aece 100644
--- a/iCub/robots/iCubDarmstadt01/model.urdf
+++ b/iCub/robots/iCubDarmstadt01/model.urdf
@@ -23,12 +23,12 @@
   </link>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -37,7 +37,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -199,7 +199,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
+    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -213,7 +213,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
+    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -241,7 +241,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
+    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -269,21 +269,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
+    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
+    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
+    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -318,14 +318,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
+    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
+    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -339,21 +339,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
+    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
+    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
+    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -374,14 +374,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
+    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
+    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -402,7 +402,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
+    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -416,7 +416,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
+    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -511,12 +511,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.03360009999999998 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.033600099999999994 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.382866"/>
       <inertia ixx="0.00120946" ixy="3.74585e-07" ixz="-5.78759e-05" iyy="0.00141439" iyz="-7.80325e-06" izz="0.000273599"/>
     </inertial>
     <visual>
-      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -525,7 +525,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -539,14 +539,14 @@
   </joint>
   <link name="r_sole"/>
   <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.003499999999999996 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
+    <origin xyz="0.003500000000000003 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_0"/>
   <joint name="r_sole_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.06047669999999999 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.060476699999999994 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_0"/>
     <dynamics damping="0.1"/>
@@ -560,14 +560,14 @@
   </joint>
   <link name="r_sole_skin_2"/>
   <joint name="r_sole_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.09320869999999998 -0.032368 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.09320869999999999 -0.032368 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_3"/>
   <joint name="r_sole_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.11158309999999996 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.11158309999999998 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_3"/>
     <dynamics damping="0.1"/>
@@ -609,112 +609,112 @@
   </joint>
   <link name="r_sole_skin_12"/>
   <joint name="r_sole_skin_12_fixed_joint" type="fixed">
-    <origin xyz="0.08286799999999997 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.08286799999999998 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_12"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_13"/>
   <joint name="r_sole_skin_13_fixed_joint" type="fixed">
-    <origin xyz="0.10124239999999997 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.10124239999999998 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_13"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_14"/>
   <joint name="r_sole_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05013603999999998 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.050136039999999986 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_14"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_15"/>
   <joint name="r_sole_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.046119189999999984 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.04611918999999999 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_17"/>
   <joint name="r_sole_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.029685499999999997 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.02968549999999999 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_18"/>
   <joint name="r_sole_skin_18_fixed_joint" type="fixed">
-    <origin xyz="-0.04805990000000001 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.0480599 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_18"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_19"/>
   <joint name="r_sole_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.05207670000000001 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.052076700000000004 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_20"/>
   <joint name="r_sole_skin_20_fixed_joint" type="fixed">
-    <origin xyz="-0.037719200000000015 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.03771920000000001 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_21"/>
   <joint name="r_sole_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.03577849999999998 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.03577849999999999 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_21"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_22"/>
   <joint name="r_sole_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.02774479999999999 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.027744799999999997 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_22"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_24"/>
   <joint name="r_sole_skin_24_fixed_joint" type="fixed">
-    <origin xyz="-0.004987200000000004 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.004987199999999997 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_24"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_25"/>
   <joint name="r_sole_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.013387199999999995 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.013387200000000002 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_25"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_26"/>
   <joint name="r_sole_skin_26_fixed_joint" type="fixed">
-    <origin xyz="0.017404099999999985 0.0133722 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.017404099999999992 0.0133722 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_26"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_27"/>
   <joint name="r_sole_skin_27_fixed_joint" type="fixed">
-    <origin xyz="0.0030464999999999798 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.0030464999999999867 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_27"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_28"/>
   <joint name="r_sole_skin_28_fixed_joint" type="fixed">
-    <origin xyz="-0.015327899999999998 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.015327899999999992 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_28"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_29"/>
   <joint name="r_sole_skin_29_fixed_joint" type="fixed">
-    <origin xyz="-0.019344800000000002 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.019344799999999995 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_29"/>
     <dynamics damping="0.1"/>
@@ -938,12 +938,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
+      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000158626" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.000206526" iyz="1.19785e-06" izz="0.000104956"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -952,15 +952,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
-    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
+    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -989,7 +989,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
+    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -1026,12 +1026,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13344e-05" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="5.86947e-05" iyz="3.92498e-06" izz="9.68353e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1040,7 +1040,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1056,7 +1056,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -1077,7 +1077,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -1086,35 +1086,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1135,14 +1135,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -1170,7 +1170,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -1191,35 +1191,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1254,19 +1254,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="5.57722e-06" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="5.29845e-06" iyz="-1.59685e-07" izz="1.87724e-06"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1275,14 +1275,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -1312,7 +1312,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -1358,12 +1358,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
+      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000159621" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.000222574" iyz="1.20112e-06" izz="0.000120056"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1372,15 +1372,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
-    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
+    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -1409,7 +1409,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
+    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -1446,7 +1446,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13352e-05" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="5.86823e-05" iyz="3.9319e-06" izz="9.68469e-05"/>
     </inertial>
@@ -1476,7 +1476,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -1497,7 +1497,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -1506,35 +1506,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1555,7 +1555,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -1576,7 +1576,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -1611,35 +1611,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1653,7 +1653,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1674,19 +1674,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="5.56774e-06" ixy="3.08362e-08" ixz="9.42153e-07" iyy="5.28838e-06" iyz="-1.58924e-07" izz="1.87579e-06"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1695,14 +1695,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1732,7 +1732,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1748,12 +1748,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1762,7 +1762,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1778,12 +1778,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0011062999999999906 1.7299999999997873e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0011062999999999976 1.730000000001175e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.415987"/>
       <inertia ixx="0.000475741" ixy="2.89355e-07" ixz="-6.72876e-08" iyy="0.000279828" iyz="6.7417e-06" izz="0.000307828"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1792,14 +1792,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
+    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1808,12 +1808,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.00012289999999999524 -0.00028229999999998534 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012290000000000217 -0.0002822999999999992 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="3.27938e-05" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="5.69957e-05" iyz="3.32338e-08" izz="3.26449e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1822,26 +1822,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008301999999999893 7.519999999998361e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008301999999999962 7.519999999999749e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868999999999982 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868999999999913 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1850,7 +1850,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1866,7 +1866,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.05125669999999999 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.051256699999999995 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1880,12 +1880,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.000999800000000002 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0009997999999999951 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1894,7 +1894,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1910,12 +1910,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015153099999999996 0.000902 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.015153099999999989 0.0009020000000000139 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447429734460005" ixy="-1.1322603878053663e-06" ixz="3.046651057758992e-05" iyy="0.0004478873540695352" iyz="2.5726583414130826e-06" izz="0.0003076030453774591"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1924,7 +1924,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1940,12 +1940,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011447000000000054 3.5999999999786203e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0011446999999999985 3.599999999992498e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.265122"/>
       <inertia ixx="0.000327222" ixy="-4.74606e-08" ixz="4.94571e-08" iyy="0.000248285" iyz="-4.29975e-06" izz="0.000150937"/>
     </inertial>
     <visual>
-      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1954,7 +1954,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1991,7 +1991,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.003499999999999996 0 -0.0605" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.003500000000000003 0 -0.0605" rpy="3.141592653589793 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2658,13 +2658,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2706,13 +2706,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2754,13 +2754,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2778,13 +2778,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2814,13 +2814,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2838,13 +2838,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2862,13 +2862,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -3004,24 +3004,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -3063,13 +3063,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
+      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
@@ -3087,178 +3087,178 @@
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07847939999999998 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
+      <pose>0.07847939999999999 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999998 -0.011812200000000009 -0.001214999999999966"/>
+    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999999 -0.011812200000000009 -0.001214999999999966"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012577000000000005 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.012577000000000012 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000005 -0.04040720000000002 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000012 -0.04040720000000002 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012574999999999996 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012575000000000003 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012574999999999996 0.04040679999999998 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575000000000003 0.04040679999999998 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.01308100000000001 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.013081000000000016 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.01308100000000001 -0.04040720000000002 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000016 -0.04040720000000002 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013078999999999993 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.013079 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999993 0.04040679999999998 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013079 0.04040679999999998 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04200169 0.03156479999999999 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
+      <pose>0.042001689999999994 0.03156479999999999 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.04200169 0.03156479999999999 0.04913199999999998"/>
+    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.042001689999999994 0.03156479999999999 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352114999999999 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352114999999998 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999999 0.007765700000000014 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999998 0.007765700000000014 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053784999999999986 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999998 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429400000000002 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999998 -0.014429400000000002 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.03412954999999999 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412954999999998 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999999 -0.0414999 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999998 -0.0414999 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378499999999999 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.043785 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999999 0.017810999999999994 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043785 0.017810999999999994 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785000000000004 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.04378500000000001 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785000000000004 -0.014191800000000011 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378500000000001 -0.014191800000000011 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.043513791999999996 0.011314499999999963 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04351379199999999 0.011314499999999963 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.043513791999999996 0.011314499999999963 -0.09276499999999999"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351379199999999 0.011314499999999963 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.044503353999999995 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04450335399999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503353999999995 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450335399999999 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05313352999999999 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.053133529999999984 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313352999999999 0.017184099999999994 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133529999999984 0.017184099999999994 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
@@ -3276,25 +3276,25 @@
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915200000000003 0.04274479999999997 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
+      <pose>0.025915199999999996 0.04274479999999997 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.025915200000000003 0.04274479999999997 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915199999999996 0.04274479999999997 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999984 -0.041718700000000025 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
+      <pose>0.018459299999999977 -0.041718700000000025 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999984 -0.041718700000000025 -0.09295800000000004"/>
+    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999977 -0.041718700000000025 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
@@ -3368,45 +3368,45 @@
     <sensor name="l_upper_leg_ft_acc_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_acc_3b12" type="accelerometer">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_hip_2">
     <sensor name="l_upper_leg_ft_gyro_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_gyro_3b12" type="gyroscope">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_acc_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_acc_3b13" type="accelerometer">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_gyro_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_gyro_3b13" type="gyroscope">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
   </sensor>
   <gazebo>
     <pose>0.0 0.0 0.63 0.0 0.0 3.14</pose>
diff --git a/iCub/robots/iCubGazeboV2_5/model.urdf b/iCub/robots/iCubGazeboV2_5/model.urdf
index 332206e..a2fd141 100644
--- a/iCub/robots/iCubGazeboV2_5/model.urdf
+++ b/iCub/robots/iCubGazeboV2_5/model.urdf
@@ -23,12 +23,12 @@
   </link>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -37,7 +37,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -199,7 +199,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
+    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -213,7 +213,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
+    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -241,7 +241,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
+    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -269,21 +269,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
+    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
+    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
+    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -318,14 +318,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
+    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
+    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -339,21 +339,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
+    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
+    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
+    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -374,14 +374,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
+    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
+    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -402,7 +402,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
+    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -416,7 +416,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
+    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -511,12 +511,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.03360009999999998 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.033600099999999994 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.382866"/>
       <inertia ixx="0.00120946" ixy="3.74585e-07" ixz="-5.78759e-05" iyy="0.00141439" iyz="-7.80325e-06" izz="0.000273599"/>
     </inertial>
     <visual>
-      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -539,14 +539,14 @@
   </joint>
   <link name="r_sole"/>
   <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.003499999999999996 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
+    <origin xyz="0.003500000000000003 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_0"/>
   <joint name="r_sole_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.06047669999999999 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.060476699999999994 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_0"/>
     <dynamics damping="0.1"/>
@@ -560,14 +560,14 @@
   </joint>
   <link name="r_sole_skin_2"/>
   <joint name="r_sole_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.09320869999999998 -0.032368 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.09320869999999999 -0.032368 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_3"/>
   <joint name="r_sole_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.11158309999999996 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.11158309999999998 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_3"/>
     <dynamics damping="0.1"/>
@@ -609,112 +609,112 @@
   </joint>
   <link name="r_sole_skin_12"/>
   <joint name="r_sole_skin_12_fixed_joint" type="fixed">
-    <origin xyz="0.08286799999999997 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.08286799999999998 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_12"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_13"/>
   <joint name="r_sole_skin_13_fixed_joint" type="fixed">
-    <origin xyz="0.10124239999999997 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.10124239999999998 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_13"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_14"/>
   <joint name="r_sole_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05013603999999998 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.050136039999999986 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_14"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_15"/>
   <joint name="r_sole_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.046119189999999984 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.04611918999999999 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_17"/>
   <joint name="r_sole_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.029685499999999997 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.02968549999999999 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_18"/>
   <joint name="r_sole_skin_18_fixed_joint" type="fixed">
-    <origin xyz="-0.04805990000000001 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.0480599 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_18"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_19"/>
   <joint name="r_sole_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.05207670000000001 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.052076700000000004 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_20"/>
   <joint name="r_sole_skin_20_fixed_joint" type="fixed">
-    <origin xyz="-0.037719200000000015 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.03771920000000001 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_21"/>
   <joint name="r_sole_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.03577849999999998 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.03577849999999999 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_21"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_22"/>
   <joint name="r_sole_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.02774479999999999 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.027744799999999997 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_22"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_24"/>
   <joint name="r_sole_skin_24_fixed_joint" type="fixed">
-    <origin xyz="-0.004987200000000004 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.004987199999999997 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_24"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_25"/>
   <joint name="r_sole_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.013387199999999995 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.013387200000000002 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_25"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_26"/>
   <joint name="r_sole_skin_26_fixed_joint" type="fixed">
-    <origin xyz="0.017404099999999985 0.0133722 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.017404099999999992 0.0133722 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_26"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_27"/>
   <joint name="r_sole_skin_27_fixed_joint" type="fixed">
-    <origin xyz="0.0030464999999999798 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.0030464999999999867 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_27"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_28"/>
   <joint name="r_sole_skin_28_fixed_joint" type="fixed">
-    <origin xyz="-0.015327899999999998 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.015327899999999992 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_28"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_29"/>
   <joint name="r_sole_skin_29_fixed_joint" type="fixed">
-    <origin xyz="-0.019344800000000002 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.019344799999999995 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_29"/>
     <dynamics damping="0.1"/>
@@ -938,12 +938,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
+      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.01" iyz="1.19785e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -952,15 +952,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
-    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
+    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -989,7 +989,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
+    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -1026,12 +1026,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="0.01" iyz="3.92498e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1040,7 +1040,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1056,7 +1056,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -1077,7 +1077,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -1086,35 +1086,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1135,14 +1135,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -1170,7 +1170,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -1191,35 +1191,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1254,19 +1254,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="0.01" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="0.01" iyz="-1.59685e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1275,14 +1275,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -1312,7 +1312,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -1358,12 +1358,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
+      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.01" iyz="1.20112e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1372,15 +1372,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
-    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
+    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -1409,7 +1409,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
+    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -1446,7 +1446,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="0.01" iyz="3.9319e-06" izz="0.01"/>
     </inertial>
@@ -1476,7 +1476,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -1497,7 +1497,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -1506,35 +1506,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1555,7 +1555,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -1576,7 +1576,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -1611,35 +1611,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1653,7 +1653,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1674,19 +1674,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="0.01" ixy="3.08362e-08" ixz="9.42153e-07" iyy="0.01" iyz="-1.58924e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1695,14 +1695,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1732,7 +1732,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1748,12 +1748,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1762,7 +1762,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1778,12 +1778,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0011062999999999906 1.7299999999997873e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0011062999999999976 1.730000000001175e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.415987"/>
       <inertia ixx="0.000475741" ixy="2.89355e-07" ixz="-6.72876e-08" iyy="0.000279828" iyz="6.7417e-06" izz="0.000307828"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1792,14 +1792,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
+    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1808,12 +1808,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.00012289999999999524 -0.00028229999999998534 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012290000000000217 -0.0002822999999999992 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="0.01" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="0.01" iyz="3.32338e-08" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1822,26 +1822,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008301999999999893 7.519999999998361e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008301999999999962 7.519999999999749e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868999999999982 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868999999999913 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1850,7 +1850,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1866,7 +1866,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.05125669999999999 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.051256699999999995 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1880,12 +1880,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.000999800000000002 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0009997999999999951 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1894,7 +1894,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1910,12 +1910,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015153099999999996 0.000902 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.015153099999999989 0.0009020000000000139 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447429734460005" ixy="-1.1322603878053663e-06" ixz="3.046651057758992e-05" iyy="0.0004478873540695352" iyz="2.5726583414130826e-06" izz="0.0003076030453774591"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1924,7 +1924,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1940,12 +1940,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011447000000000054 3.5999999999786203e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0011446999999999985 3.599999999992498e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.265122"/>
       <inertia ixx="0.01" ixy="-4.74606e-08" ixz="4.94571e-08" iyy="0.01" iyz="-4.29975e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1954,7 +1954,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1991,7 +1991,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.003499999999999996 0 -0.0605" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.003500000000000003 0 -0.0605" rpy="3.141592653589793 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2658,13 +2658,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2706,13 +2706,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2754,13 +2754,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2778,13 +2778,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2814,13 +2814,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2838,13 +2838,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2862,13 +2862,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -3004,24 +3004,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -3063,13 +3063,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
+      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
@@ -3087,178 +3087,178 @@
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07847939999999998 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
+      <pose>0.07847939999999999 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999998 -0.011812200000000009 -0.001214999999999966"/>
+    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999999 -0.011812200000000009 -0.001214999999999966"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012577000000000005 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.012577000000000012 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000005 -0.04040720000000002 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000012 -0.04040720000000002 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012574999999999996 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012575000000000003 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012574999999999996 0.04040679999999998 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575000000000003 0.04040679999999998 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.01308100000000001 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.013081000000000016 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.01308100000000001 -0.04040720000000002 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000016 -0.04040720000000002 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013078999999999993 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.013079 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999993 0.04040679999999998 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013079 0.04040679999999998 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04200169 0.03156479999999999 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
+      <pose>0.042001689999999994 0.03156479999999999 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.04200169 0.03156479999999999 0.04913199999999998"/>
+    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.042001689999999994 0.03156479999999999 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352114999999999 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352114999999998 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999999 0.007765700000000014 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999998 0.007765700000000014 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053784999999999986 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999998 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429400000000002 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999998 -0.014429400000000002 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.03412954999999999 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412954999999998 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999999 -0.0414999 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999998 -0.0414999 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378499999999999 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.043785 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999999 0.017810999999999994 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043785 0.017810999999999994 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785000000000004 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.04378500000000001 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785000000000004 -0.014191800000000011 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378500000000001 -0.014191800000000011 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.043513791999999996 0.011314499999999963 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04351379199999999 0.011314499999999963 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.043513791999999996 0.011314499999999963 -0.09276499999999999"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351379199999999 0.011314499999999963 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.044503353999999995 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04450335399999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503353999999995 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450335399999999 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05313352999999999 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.053133529999999984 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313352999999999 0.017184099999999994 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133529999999984 0.017184099999999994 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
@@ -3276,25 +3276,25 @@
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915200000000003 0.04274479999999997 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
+      <pose>0.025915199999999996 0.04274479999999997 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.025915200000000003 0.04274479999999997 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915199999999996 0.04274479999999997 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999984 -0.041718700000000025 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
+      <pose>0.018459299999999977 -0.041718700000000025 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999984 -0.041718700000000025 -0.09295800000000004"/>
+    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999977 -0.041718700000000025 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
@@ -3368,45 +3368,45 @@
     <sensor name="l_upper_leg_ft_acc_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_acc_3b12" type="accelerometer">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_hip_2">
     <sensor name="l_upper_leg_ft_gyro_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_gyro_3b12" type="gyroscope">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_acc_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_acc_3b13" type="accelerometer">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_gyro_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_gyro_3b13" type="gyroscope">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
   </sensor>
   <gazebo>
     <pose>0.0 0.0 0.63 0.0 0.0 3.14</pose>
diff --git a/iCub/robots/iCubGazeboV2_5_plus/model.urdf b/iCub/robots/iCubGazeboV2_5_plus/model.urdf
index e666461..9788760 100644
--- a/iCub/robots/iCubGazeboV2_5_plus/model.urdf
+++ b/iCub/robots/iCubGazeboV2_5_plus/model.urdf
@@ -247,12 +247,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
+      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.01" iyz="1.19785e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -261,15 +261,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
-    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
+    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -298,7 +298,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
+    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -335,12 +335,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="0.01" iyz="3.92498e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -349,7 +349,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -365,7 +365,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -386,7 +386,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -395,35 +395,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -444,14 +444,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -479,7 +479,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -500,35 +500,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -542,7 +542,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -563,19 +563,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="0.01" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="0.01" iyz="-1.59685e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -584,14 +584,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -621,7 +621,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -667,12 +667,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
+      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.01" iyz="1.20112e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -681,15 +681,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
-    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
+    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -718,7 +718,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
+    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -755,7 +755,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="0.01" iyz="3.9319e-06" izz="0.01"/>
     </inertial>
@@ -785,7 +785,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -806,7 +806,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -815,35 +815,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -864,7 +864,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -885,7 +885,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -920,35 +920,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -962,7 +962,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -983,19 +983,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="0.01" ixy="3.08362e-08" ixz="9.42153e-07" iyy="0.01" iyz="-1.58924e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1004,14 +1004,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1041,7 +1041,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1057,12 +1057,12 @@
   </joint>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1071,7 +1071,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.058310299999999995 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
+    <origin xyz="0.058310299999999995 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1247,7 +1247,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208552 0.03044339999999998 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
+    <origin xyz="0.05208552 0.03044339999999998 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -1275,7 +1275,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999999 -0.03117600000000001 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
+    <origin xyz="0.05504769999999999 -0.03117600000000001 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -1303,21 +1303,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.035753400000000005 0.04106279999999999 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
+    <origin xyz="0.035753400000000005 0.04106279999999999 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.023441900000000012 0.04799079999999998 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
+    <origin xyz="0.023441900000000012 0.04799079999999998 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.02427040000000001 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
+    <origin xyz="0.02427040000000001 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -1352,14 +1352,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.047748659999999984 -0.031231999999999996 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
+    <origin xyz="0.047748659999999984 -0.031231999999999996 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322408999999999 -0.01560180000000004 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
+    <origin xyz="0.05322408999999999 -0.01560180000000004 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -1373,21 +1373,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880466999999999 -0.031263 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
+    <origin xyz="0.04880466999999999 -0.031263 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999999 -0.01591290000000002 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
+    <origin xyz="0.05660089999999999 -0.01591290000000002 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.057010599999999995 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
+    <origin xyz="0.057010599999999995 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -1408,14 +1408,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641629999999995 0.01763889999999997 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
+    <origin xyz="0.052641629999999995 0.01763889999999997 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113137 0.032438499999999953 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
+    <origin xyz="0.04113137 0.032438499999999953 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -1436,7 +1436,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998319999999995 0.0012663999999999592 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
+    <origin xyz="0.052998319999999995 0.0012663999999999592 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -1450,7 +1450,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127079999999986 -0.030749000000000026 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
+    <origin xyz="0.045127079999999986 -0.030749000000000026 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -1485,12 +1485,12 @@
   </joint>
   <link name="r_ankle_1">
     <inertial>
-      <origin xyz="0.015143405473968821 -0.0008685000000000082 4.2859082720503316e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.015143405473968807 -0.0008685000000000082 4.2859082720503316e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.6803"/>
       <inertia ixx="0.0004046207392315529" ixy="8.523488844593136e-06" ixz="-2.8913590319053794e-05" iyy="0.0004379396781535379" iyz="3.7330395179426065e-05" izz="0.00031892819418424145"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272424511754 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424511755 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1499,7 +1499,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272424511754 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424511755 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1515,12 +1515,12 @@
   </joint>
   <link name="r_ankle_2">
     <inertial>
-      <origin xyz="0.0011452157753235187 -8.299999999988872e-06 -0.038511854107377785" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.0011452157753235048 -8.299999999988872e-06 -0.038511854107377785" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.265337"/>
       <inertia ixx="0.01" ixy="-7.94989e-08" ixz="8.24551e-09" iyy="0.01" iyz="2.0701e-05" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272442308744 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442308745 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1529,7 +1529,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272442308744 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442308745 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1537,7 +1537,7 @@
   </link>
   <joint name="r_ankle_roll" type="revolute">
     <origin xyz="0 0 0" rpy="0 0 0"/>
-    <axis xyz="-1.0000001561184808 -6.013654019199066e-16 1.1979394973216095e-07"/>
+    <axis xyz="-1.0000001561184808 -6.013654019199066e-16 1.197939497389039e-07"/>
     <parent link="r_ankle_1"/>
     <child link="r_ankle_2"/>
     <limit effort="37.0" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="7.64"/>
@@ -1545,12 +1545,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.039779742643594365 0.004553699994905444 -0.006311816589999797" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
+      <origin xyz="0.039779742643594365 0.004553699994905444 -0.006311816589999797" rpy="-1.832595507822573 0 -1.5707963267948983"/>
       <mass value="0.357881"/>
       <inertia ixx="0.00109611" ixy="-2.9193e-07" ixz="-3.70109e-05" iyy="0.00125706" iyz="5.10952e-06" izz="0.000215359"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
+      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.832595507822573 0 -1.5707963267948983"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1566,7 +1566,7 @@
     </collision>
   </link>
   <joint name="r_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.0034999280659716026 0 -0.060500343280208146" rpy="3.141592652417863 0 0"/>
+    <origin xyz="-0.0034999280659716164 0 -0.060500343280208146" rpy="3.141592652417863 0 0"/>
     <parent link="r_ankle_2"/>
     <child link="r_foot"/>
     <dynamics damping="0.1"/>
@@ -1580,12 +1580,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1594,7 +1594,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1610,12 +1610,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0015761999999999929 -1.940000000000275e-05 -0.04405299999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0015761999999999998 -1.939999999998887e-05 -0.04405299999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.421106"/>
       <inertia ixx="0.000494284" ixy="1.5483e-07" ixz="-1.86308e-07" iyy="0.000288736" iyz="1.52962e-05" izz="0.000319008"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1624,14 +1624,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
+    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1640,12 +1640,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.00012299999999999117 -0.0002823000000000131 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.0001229999999999981 -0.000282300000000027 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="0.01" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="0.01" iyz="3.32338e-08" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.043708999809320984 0.07010000000001014 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370899980932098 0.07010000000001013 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1654,26 +1654,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.043708999809320984 0.07010000000001014 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370899980932098 0.07010000000001013 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008574999999999972 0 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008575000000000041 0 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868000000000092 0.00010179999999999911 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868000000000023 0.00010179999999999911 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.043708999809320984 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980932098 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1682,7 +1682,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.043708999809320984 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980932098 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1698,7 +1698,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.051256699999999975 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.05125669999999998 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1712,12 +1712,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.000999700000000013 0.0034968999999999834 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0009997000000000061 0.0034968999999999834 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370899980931699 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980931698 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1726,7 +1726,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370899980931699 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980931698 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1742,12 +1742,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015152971856010347 0.0009021000000000029 4.2316556559285345e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.015152971856010333 0.0009021000000000029 4.2316556559285345e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447618553062084" ixy="-8.97867775831874e-06" ixz="2.9134846047326194e-05" iyy="0.00043720150287133953" iyz="3.730206268073148e-05" izz="0.00031828795462876227"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272424516862 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424516864 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1756,7 +1756,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272424516862 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424516864 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1772,12 +1772,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011452157753235465 -8.299999999974994e-06 -0.038511854107377674" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.0011452157753235326 -8.299999999974994e-06 -0.038511854107377674" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.265337"/>
       <inertia ixx="0.01" ixy="-7.94989e-08" ixz="8.24551e-09" iyy="0.01" iyz="2.0701e-05" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272442313177 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442313178 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1786,7 +1786,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272442313177 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442313178 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1794,7 +1794,7 @@
   </link>
   <joint name="l_ankle_roll" type="revolute">
     <origin xyz="0 0 0" rpy="0 0 0"/>
-    <axis xyz="1.0000001561184808 6.013654019199066e-16 -1.1979394973216095e-07"/>
+    <axis xyz="1.0000001561184808 6.013654019199066e-16 -1.197939497389039e-07"/>
     <parent link="l_ankle_1"/>
     <child link="l_ankle_2"/>
     <limit effort="37.0" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="7.64"/>
@@ -1823,7 +1823,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.0034999280659716026 0 -0.060500343280208146" rpy="-3.141592643239301 0 0"/>
+    <origin xyz="-0.0034999280659716164 0 -0.060500343280208146" rpy="-3.141592643239301 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2315,13 +2315,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2363,13 +2363,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2411,13 +2411,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2435,13 +2435,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2471,13 +2471,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2495,13 +2495,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2519,13 +2519,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -2661,24 +2661,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351373 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04351373 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351373 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351373 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.044503292 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.044503292 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503292 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.044503292 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -2696,13 +2696,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0537517 0.01572289999999999 -0.0043179999999999885 -1.5707962918765586 -1.5706802104434696 -1.2217307215014315</pose>
+      <pose>0.0537517 0.01572289999999999 -0.0043179999999999885 -1.5707962918786202 -1.5706802104434698 -1.221730721500941</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707962918765586 -1.5706802104434696 -1.2217307215014315" xyz="0.0537517 0.01572289999999999 -0.0043179999999999885"/>
+    <origin rpy="-1.5707962918786202 -1.5706802104434698 -1.221730721500941" xyz="0.0537517 0.01572289999999999 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b10" type="imu">
@@ -2720,238 +2720,238 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.01648010000000001 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
+      <pose>0.01648010000000001 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
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   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b12" type="accelerometer">
     <parent link="r_foot"/>
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   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
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   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
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   </sensor>
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     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577099999999994 -0.040407200000000004 -0.08340699999999998"/>
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   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012575099999999985 0.040407 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012575099999999992 0.040407 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
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+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575099999999992 0.040407 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
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+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000002 -0.040407200000000004 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.01307899999999998 0.040407 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.013078999999999986 0.040407 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
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+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999986 0.040407 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.042001630000000005 0.03156500000000001 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
+      <pose>0.04200163 0.03156500000000001 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
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+    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.04200163 0.03156500000000001 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
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   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
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   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
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   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
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   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
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     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
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     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
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     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
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   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
diff --git a/iCub/robots/iCubGazeboV2_6/model.urdf b/iCub/robots/iCubGazeboV2_6/model.urdf
index cdfb5bb..4024cab 100644
--- a/iCub/robots/iCubGazeboV2_6/model.urdf
+++ b/iCub/robots/iCubGazeboV2_6/model.urdf
@@ -23,12 +23,12 @@
   </link>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -37,7 +37,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -199,7 +199,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
+    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -213,7 +213,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
+    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -241,7 +241,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
+    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -269,21 +269,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
+    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
+    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
+    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -318,14 +318,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
+    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
+    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -339,21 +339,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
+    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
+    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
+    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -374,14 +374,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
+    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
+    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -402,7 +402,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
+    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -416,7 +416,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
+    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -511,12 +511,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.03360009999999998 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.033600099999999994 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.382866"/>
       <inertia ixx="0.00120946" ixy="3.74585e-07" ixz="-5.78759e-05" iyy="0.00141439" iyz="-7.80325e-06" izz="0.000273599"/>
     </inertial>
     <visual>
-      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -539,14 +539,14 @@
   </joint>
   <link name="r_sole"/>
   <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.003499999999999996 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
+    <origin xyz="0.003500000000000003 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_0"/>
   <joint name="r_sole_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.06047669999999999 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.060476699999999994 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_0"/>
     <dynamics damping="0.1"/>
@@ -560,14 +560,14 @@
   </joint>
   <link name="r_sole_skin_2"/>
   <joint name="r_sole_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.09320869999999998 -0.032368 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.09320869999999999 -0.032368 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_3"/>
   <joint name="r_sole_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.11158309999999996 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.11158309999999998 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_3"/>
     <dynamics damping="0.1"/>
@@ -609,112 +609,112 @@
   </joint>
   <link name="r_sole_skin_12"/>
   <joint name="r_sole_skin_12_fixed_joint" type="fixed">
-    <origin xyz="0.08286799999999997 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.08286799999999998 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_12"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_13"/>
   <joint name="r_sole_skin_13_fixed_joint" type="fixed">
-    <origin xyz="0.10124239999999997 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.10124239999999998 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_13"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_14"/>
   <joint name="r_sole_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05013603999999998 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.050136039999999986 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_14"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_15"/>
   <joint name="r_sole_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.046119189999999984 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.04611918999999999 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_17"/>
   <joint name="r_sole_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.029685499999999997 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.02968549999999999 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_18"/>
   <joint name="r_sole_skin_18_fixed_joint" type="fixed">
-    <origin xyz="-0.04805990000000001 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.0480599 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_18"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_19"/>
   <joint name="r_sole_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.05207670000000001 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.052076700000000004 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_20"/>
   <joint name="r_sole_skin_20_fixed_joint" type="fixed">
-    <origin xyz="-0.037719200000000015 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.03771920000000001 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_21"/>
   <joint name="r_sole_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.03577849999999998 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.03577849999999999 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_21"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_22"/>
   <joint name="r_sole_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.02774479999999999 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.027744799999999997 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_22"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_24"/>
   <joint name="r_sole_skin_24_fixed_joint" type="fixed">
-    <origin xyz="-0.004987200000000004 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.004987199999999997 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_24"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_25"/>
   <joint name="r_sole_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.013387199999999995 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.013387200000000002 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_25"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_26"/>
   <joint name="r_sole_skin_26_fixed_joint" type="fixed">
-    <origin xyz="0.017404099999999985 0.0133722 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.017404099999999992 0.0133722 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_26"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_27"/>
   <joint name="r_sole_skin_27_fixed_joint" type="fixed">
-    <origin xyz="0.0030464999999999798 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.0030464999999999867 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_27"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_28"/>
   <joint name="r_sole_skin_28_fixed_joint" type="fixed">
-    <origin xyz="-0.015327899999999998 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.015327899999999992 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_28"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_29"/>
   <joint name="r_sole_skin_29_fixed_joint" type="fixed">
-    <origin xyz="-0.019344800000000002 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.019344799999999995 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_29"/>
     <dynamics damping="0.1"/>
@@ -938,12 +938,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
+      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.01" iyz="1.19785e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -952,15 +952,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
-    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
+    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -989,7 +989,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
+    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -1026,12 +1026,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="0.01" iyz="3.92498e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1040,7 +1040,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1056,7 +1056,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -1077,7 +1077,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -1086,35 +1086,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1135,14 +1135,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -1170,7 +1170,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -1191,35 +1191,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1254,19 +1254,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="0.01" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="0.01" iyz="-1.59685e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1275,14 +1275,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -1312,7 +1312,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -1358,12 +1358,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
+      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.01" iyz="1.20112e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1372,15 +1372,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
-    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
+    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -1409,7 +1409,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
+    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -1446,7 +1446,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="0.01" iyz="3.9319e-06" izz="0.01"/>
     </inertial>
@@ -1476,7 +1476,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -1497,7 +1497,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -1506,35 +1506,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1555,7 +1555,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -1576,7 +1576,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -1611,35 +1611,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1653,7 +1653,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1674,19 +1674,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="0.01" ixy="3.08362e-08" ixz="9.42153e-07" iyy="0.01" iyz="-1.58924e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1695,14 +1695,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1732,7 +1732,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1748,12 +1748,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1762,7 +1762,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1778,12 +1778,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0011062999999999906 1.7299999999997873e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0011062999999999976 1.730000000001175e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.415987"/>
       <inertia ixx="0.000475741" ixy="2.89355e-07" ixz="-6.72876e-08" iyy="0.000279828" iyz="6.7417e-06" izz="0.000307828"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1792,14 +1792,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
+    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1808,12 +1808,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.00012289999999999524 -0.00028229999999998534 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012290000000000217 -0.0002822999999999992 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="0.01" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="0.01" iyz="3.32338e-08" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1822,26 +1822,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008301999999999893 7.519999999998361e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008301999999999962 7.519999999999749e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868999999999982 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868999999999913 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1850,7 +1850,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1866,7 +1866,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.05125669999999999 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.051256699999999995 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1880,12 +1880,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.000999800000000002 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0009997999999999951 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1894,7 +1894,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1910,12 +1910,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015153099999999996 0.000902 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.015153099999999989 0.0009020000000000139 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447429734460005" ixy="-1.1322603878053663e-06" ixz="3.046651057758992e-05" iyy="0.0004478873540695352" iyz="2.5726583414130826e-06" izz="0.0003076030453774591"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1924,7 +1924,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1940,12 +1940,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011447000000000054 3.5999999999786203e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0011446999999999985 3.599999999992498e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.265122"/>
       <inertia ixx="0.01" ixy="-4.74606e-08" ixz="4.94571e-08" iyy="0.01" iyz="-4.29975e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1954,7 +1954,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1991,7 +1991,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.003499999999999996 0 -0.0605" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.003500000000000003 0 -0.0605" rpy="3.141592653589793 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2658,13 +2658,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2706,13 +2706,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2754,13 +2754,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2778,13 +2778,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2814,13 +2814,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2838,13 +2838,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2862,13 +2862,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -3004,24 +3004,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -3063,13 +3063,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
+      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
@@ -3087,178 +3087,178 @@
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07847939999999998 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
+      <pose>0.07847939999999999 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999998 -0.011812200000000009 -0.001214999999999966"/>
+    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999999 -0.011812200000000009 -0.001214999999999966"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012577000000000005 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.012577000000000012 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000005 -0.04040720000000002 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000012 -0.04040720000000002 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012574999999999996 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012575000000000003 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012574999999999996 0.04040679999999998 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575000000000003 0.04040679999999998 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.01308100000000001 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.013081000000000016 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.01308100000000001 -0.04040720000000002 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000016 -0.04040720000000002 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013078999999999993 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.013079 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999993 0.04040679999999998 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013079 0.04040679999999998 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04200169 0.03156479999999999 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
+      <pose>0.042001689999999994 0.03156479999999999 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.04200169 0.03156479999999999 0.04913199999999998"/>
+    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.042001689999999994 0.03156479999999999 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352114999999999 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352114999999998 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999999 0.007765700000000014 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999998 0.007765700000000014 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053784999999999986 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999998 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429400000000002 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999998 -0.014429400000000002 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.03412954999999999 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412954999999998 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999999 -0.0414999 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999998 -0.0414999 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378499999999999 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.043785 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999999 0.017810999999999994 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043785 0.017810999999999994 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785000000000004 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.04378500000000001 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785000000000004 -0.014191800000000011 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378500000000001 -0.014191800000000011 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.043513791999999996 0.011314499999999963 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04351379199999999 0.011314499999999963 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.043513791999999996 0.011314499999999963 -0.09276499999999999"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351379199999999 0.011314499999999963 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.044503353999999995 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04450335399999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503353999999995 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450335399999999 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05313352999999999 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.053133529999999984 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313352999999999 0.017184099999999994 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133529999999984 0.017184099999999994 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
@@ -3276,25 +3276,25 @@
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915200000000003 0.04274479999999997 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
+      <pose>0.025915199999999996 0.04274479999999997 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.025915200000000003 0.04274479999999997 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915199999999996 0.04274479999999997 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999984 -0.041718700000000025 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
+      <pose>0.018459299999999977 -0.041718700000000025 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999984 -0.041718700000000025 -0.09295800000000004"/>
+    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999977 -0.041718700000000025 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
@@ -3368,45 +3368,45 @@
     <sensor name="l_upper_leg_ft_acc_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_acc_3b12" type="accelerometer">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_hip_2">
     <sensor name="l_upper_leg_ft_gyro_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_gyro_3b12" type="gyroscope">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_acc_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_acc_3b13" type="accelerometer">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_gyro_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_gyro_3b13" type="gyroscope">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
   </sensor>
   <gazebo>
     <pose>0.0 0.0 0.63 0.0 0.0 3.14</pose>
diff --git a/iCub/robots/iCubGazeboV2_7/model.urdf b/iCub/robots/iCubGazeboV2_7/model.urdf
index 5d055d0..3dba975 100644
--- a/iCub/robots/iCubGazeboV2_7/model.urdf
+++ b/iCub/robots/iCubGazeboV2_7/model.urdf
@@ -23,12 +23,12 @@
   </link>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -37,7 +37,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -199,7 +199,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
+    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -213,7 +213,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
+    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -241,7 +241,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
+    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -269,21 +269,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
+    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
+    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
+    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -318,14 +318,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
+    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
+    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -339,21 +339,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
+    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
+    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
+    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -374,14 +374,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
+    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
+    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -402,7 +402,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
+    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -416,7 +416,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
+    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -511,12 +511,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.03360009999999998 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.033600099999999994 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.382866"/>
       <inertia ixx="0.00120946" ixy="3.74585e-07" ixz="-5.78759e-05" iyy="0.00141439" iyz="-7.80325e-06" izz="0.000273599"/>
     </inertial>
     <visual>
-      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -539,14 +539,14 @@
   </joint>
   <link name="r_sole"/>
   <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.003499999999999996 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
+    <origin xyz="0.003500000000000003 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_0"/>
   <joint name="r_sole_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.06047669999999999 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.060476699999999994 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_0"/>
     <dynamics damping="0.1"/>
@@ -560,14 +560,14 @@
   </joint>
   <link name="r_sole_skin_2"/>
   <joint name="r_sole_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.09320869999999998 -0.032368 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.09320869999999999 -0.032368 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_3"/>
   <joint name="r_sole_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.11158309999999996 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.11158309999999998 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_3"/>
     <dynamics damping="0.1"/>
@@ -609,112 +609,112 @@
   </joint>
   <link name="r_sole_skin_12"/>
   <joint name="r_sole_skin_12_fixed_joint" type="fixed">
-    <origin xyz="0.08286799999999997 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.08286799999999998 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_12"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_13"/>
   <joint name="r_sole_skin_13_fixed_joint" type="fixed">
-    <origin xyz="0.10124239999999997 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.10124239999999998 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_13"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_14"/>
   <joint name="r_sole_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05013603999999998 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.050136039999999986 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_14"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_15"/>
   <joint name="r_sole_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.046119189999999984 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.04611918999999999 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_17"/>
   <joint name="r_sole_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.029685499999999997 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.02968549999999999 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_18"/>
   <joint name="r_sole_skin_18_fixed_joint" type="fixed">
-    <origin xyz="-0.04805990000000001 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.0480599 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_18"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_19"/>
   <joint name="r_sole_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.05207670000000001 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.052076700000000004 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_20"/>
   <joint name="r_sole_skin_20_fixed_joint" type="fixed">
-    <origin xyz="-0.037719200000000015 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.03771920000000001 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_21"/>
   <joint name="r_sole_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.03577849999999998 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.03577849999999999 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_21"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_22"/>
   <joint name="r_sole_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.02774479999999999 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.027744799999999997 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_22"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_24"/>
   <joint name="r_sole_skin_24_fixed_joint" type="fixed">
-    <origin xyz="-0.004987200000000004 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.004987199999999997 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_24"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_25"/>
   <joint name="r_sole_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.013387199999999995 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.013387200000000002 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_25"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_26"/>
   <joint name="r_sole_skin_26_fixed_joint" type="fixed">
-    <origin xyz="0.017404099999999985 0.0133722 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.017404099999999992 0.0133722 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_26"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_27"/>
   <joint name="r_sole_skin_27_fixed_joint" type="fixed">
-    <origin xyz="0.0030464999999999798 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.0030464999999999867 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_27"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_28"/>
   <joint name="r_sole_skin_28_fixed_joint" type="fixed">
-    <origin xyz="-0.015327899999999998 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.015327899999999992 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_28"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_29"/>
   <joint name="r_sole_skin_29_fixed_joint" type="fixed">
-    <origin xyz="-0.019344800000000002 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.019344799999999995 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_29"/>
     <dynamics damping="0.1"/>
@@ -938,12 +938,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
+      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.01" iyz="1.19785e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -952,15 +952,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
-    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
+    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -989,7 +989,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
+    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -1026,12 +1026,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="0.01" iyz="3.92498e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1040,7 +1040,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1056,7 +1056,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -1077,7 +1077,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -1086,35 +1086,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1135,14 +1135,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -1170,7 +1170,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -1191,35 +1191,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1254,19 +1254,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="0.01" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="0.01" iyz="-1.59685e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1275,14 +1275,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -1312,7 +1312,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -1358,12 +1358,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
+      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.01" iyz="1.20112e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1372,15 +1372,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
-    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
+    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -1409,7 +1409,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
+    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -1446,7 +1446,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="0.01" iyz="3.9319e-06" izz="0.01"/>
     </inertial>
@@ -1476,7 +1476,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -1497,7 +1497,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -1506,35 +1506,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1555,7 +1555,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -1576,7 +1576,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -1611,35 +1611,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1653,7 +1653,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1674,19 +1674,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="0.01" ixy="3.08362e-08" ixz="9.42153e-07" iyy="0.01" iyz="-1.58924e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1695,14 +1695,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1732,7 +1732,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1748,12 +1748,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1762,7 +1762,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1778,12 +1778,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0011062999999999906 1.7299999999997873e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0011062999999999976 1.730000000001175e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.415987"/>
       <inertia ixx="0.000475741" ixy="2.89355e-07" ixz="-6.72876e-08" iyy="0.000279828" iyz="6.7417e-06" izz="0.000307828"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1792,14 +1792,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
+    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1808,12 +1808,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.00012289999999999524 -0.00028229999999998534 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012290000000000217 -0.0002822999999999992 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="0.01" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="0.01" iyz="3.32338e-08" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1822,26 +1822,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008301999999999893 7.519999999998361e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008301999999999962 7.519999999999749e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868999999999982 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868999999999913 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1850,7 +1850,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1866,7 +1866,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.05125669999999999 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.051256699999999995 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1880,12 +1880,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.000999800000000002 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0009997999999999951 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1894,7 +1894,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1910,12 +1910,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015153099999999996 0.000902 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.015153099999999989 0.0009020000000000139 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447429734460005" ixy="-1.1322603878053663e-06" ixz="3.046651057758992e-05" iyy="0.0004478873540695352" iyz="2.5726583414130826e-06" izz="0.0003076030453774591"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1924,7 +1924,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1940,12 +1940,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011447000000000054 3.5999999999786203e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0011446999999999985 3.599999999992498e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.265122"/>
       <inertia ixx="0.01" ixy="-4.74606e-08" ixz="4.94571e-08" iyy="0.01" iyz="-4.29975e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1954,7 +1954,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1991,7 +1991,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.003499999999999996 0 -0.0605" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.003500000000000003 0 -0.0605" rpy="3.141592653589793 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2674,13 +2674,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2722,13 +2722,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2770,13 +2770,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2794,13 +2794,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2830,13 +2830,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2854,13 +2854,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2878,13 +2878,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -3020,24 +3020,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -3079,13 +3079,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
+      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
@@ -3103,178 +3103,178 @@
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07847939999999998 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
+      <pose>0.07847939999999999 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999998 -0.011812200000000009 -0.001214999999999966"/>
+    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999999 -0.011812200000000009 -0.001214999999999966"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012577000000000005 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.012577000000000012 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000005 -0.04040720000000002 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000012 -0.04040720000000002 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012574999999999996 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012575000000000003 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012574999999999996 0.04040679999999998 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575000000000003 0.04040679999999998 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.01308100000000001 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.013081000000000016 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.01308100000000001 -0.04040720000000002 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000016 -0.04040720000000002 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013078999999999993 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.013079 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999993 0.04040679999999998 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013079 0.04040679999999998 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04200169 0.03156479999999999 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
+      <pose>0.042001689999999994 0.03156479999999999 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.04200169 0.03156479999999999 0.04913199999999998"/>
+    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.042001689999999994 0.03156479999999999 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352114999999999 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352114999999998 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999999 0.007765700000000014 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999998 0.007765700000000014 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053784999999999986 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999998 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429400000000002 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999998 -0.014429400000000002 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.03412954999999999 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412954999999998 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999999 -0.0414999 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999998 -0.0414999 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378499999999999 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.043785 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999999 0.017810999999999994 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043785 0.017810999999999994 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785000000000004 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.04378500000000001 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785000000000004 -0.014191800000000011 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378500000000001 -0.014191800000000011 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.043513791999999996 0.011314499999999963 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04351379199999999 0.011314499999999963 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.043513791999999996 0.011314499999999963 -0.09276499999999999"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351379199999999 0.011314499999999963 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.044503353999999995 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04450335399999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503353999999995 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450335399999999 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05313352999999999 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.053133529999999984 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313352999999999 0.017184099999999994 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133529999999984 0.017184099999999994 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
@@ -3292,25 +3292,25 @@
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915200000000003 0.04274479999999997 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
+      <pose>0.025915199999999996 0.04274479999999997 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.025915200000000003 0.04274479999999997 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915199999999996 0.04274479999999997 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999984 -0.041718700000000025 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
+      <pose>0.018459299999999977 -0.041718700000000025 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999984 -0.041718700000000025 -0.09295800000000004"/>
+    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999977 -0.041718700000000025 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
@@ -3384,45 +3384,45 @@
     <sensor name="l_upper_leg_ft_acc_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_acc_3b12" type="accelerometer">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_hip_2">
     <sensor name="l_upper_leg_ft_gyro_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_gyro_3b12" type="gyroscope">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_acc_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_acc_3b13" type="accelerometer">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_gyro_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_gyro_3b13" type="gyroscope">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
   </sensor>
   <gazebo>
     <pose>0.0 0.0 0.63 0.0 0.0 3.14</pose>
diff --git a/iCub/robots/iCubGazeboV3/model.urdf b/iCub/robots/iCubGazeboV3/model.urdf
index 412c7c5..176d8d0 100644
--- a/iCub/robots/iCubGazeboV3/model.urdf
+++ b/iCub/robots/iCubGazeboV3/model.urdf
@@ -21,398 +21,364 @@
       </geometry>
     </collision>
   </link>
-  <link name="l_hip_1">
+  <link name="torso_1">
     <inertial>
-      <origin xyz="-0.001970200000000002 0.0311194 -0.00043199999999998795" rpy="0 0 -1.5707963267948966"/>
-      <mass value="2.48546"/>
-      <inertia ixx="0.00285629" ixy="-2.13955e-05" ixz="3.35338e-06" iyy="0.00230094" iyz="1.79278e-05" izz="0.00246343"/>
+      <origin xyz="-0.00752632 0.000684313 0.05308400000000002" rpy="0 0 -1.5707963267948966"/>
+      <mass value="1.81255"/>
+      <inertia ixx="0.00354354" ixy="5.48743e-06" ixz="8.16841e-06" iyy="0.00272482" iyz="-0.000326014" izz="0.00215923"/>
     </inertial>
     <visual>
-      <origin xyz="-0.02159999999999998 -0.040449999999999674 0.3138580000000002" rpy="0 0 -1.5707963267948966"/>
+      <origin xyz="0 0 0.25335800000000014" rpy="0 0 -1.5707963267948966"/>
       <geometry>
-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_hip_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_torso_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="black">
         <color rgba="0 0 0 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.02159999999999998 -0.040449999999999674 0.3138580000000002" rpy="0 0 -1.5707963267948966"/>
+      <origin xyz="0 0 0.25335800000000014" rpy="0 0 -1.5707963267948966"/>
       <geometry>
-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_hip_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_torso_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="l_hip_pitch" type="revolute">
-    <origin xyz="0.0216 0.04045000000000001 0" rpy="0 0 0"/>
-    <axis xyz="0.0 -1.0 0.0"/>
+  <joint name="torso_roll" type="revolute">
+    <origin xyz="0 0 0.0605" rpy="0 0 0"/>
+    <axis xyz="-1.0 0.0 0.0"/>
     <parent link="root_link"/>
-    <child link="l_hip_1"/>
-    <limit effort="50000" lower="-0.7853981633974483" upper="2.007128639793479" velocity="120.0"/>
+    <child link="torso_1"/>
+    <limit effort="50000" lower="-0.4014257279586958" upper="0.4014257279586958" velocity="120.0"/>
     <dynamics damping="0.06" friction="0.0"/>
   </joint>
-  <link name="l_hip_2">
+  <link name="torso_2">
     <inertial>
-      <origin xyz="-0.005948600000000005 8.049999999999724e-05 -0.03665299999999999" rpy="0 0 -1.5707963267948966"/>
-      <mass value="1.8834"/>
-      <inertia ixx="0.00530457" ixy="-3.8077e-06" ixz="2.9244e-06" iyy="0.00316497" iyz="0.0011122" izz="0.00322503"/>
+      <origin xyz="0.0006802240000000001 0.0015534 0.05118500000000001" rpy="0 0 -1.5707963267948966"/>
+      <mass value="1.45349"/>
+      <inertia ixx="0.00226311" ixy="-1.7788e-06" ixz="-0.000118559" iyy="0.00286571" iyz="1.47721e-05" izz="0.00163638"/>
     </inertial>
     <visual>
-      <origin xyz="0.025649999999999923 -0.07354999999999969 0.32285800000000037" rpy="0 0 -1.5707963267948966"/>
+      <origin xyz="0 0 0.18085800000000013" rpy="0 0 -1.5707963267948966"/>
       <geometry>
-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_hip_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_torso_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="red">
         <color rgba="1 0 0 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0.025649999999999923 -0.07354999999999969 0.32285800000000037" rpy="0 0 -1.5707963267948966"/>
+      <origin xyz="0 0 0.18085800000000013" rpy="0 0 -1.5707963267948966"/>
       <geometry>
-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_hip_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_torso_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="l_hip_roll" type="revolute">
-    <origin xyz="-0.04725 0.0331 -0.009000000000000008" rpy="0 0 0"/>
-    <axis xyz="1.0 0.0 0.0"/>
-    <parent link="l_hip_1"/>
-    <child link="l_hip_2"/>
-    <limit effort="50000" lower="-0.17453292519943295" upper="2.007128639793479" velocity="120.0"/>
+  <joint name="torso_pitch" type="revolute">
+    <origin xyz="0 0 0.07250000000000001" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <parent link="torso_1"/>
+    <child link="torso_2"/>
+    <limit effort="50000" lower="-0.3141592653589793" upper="0.7853981633974483" velocity="120.0"/>
     <dynamics damping="0.06" friction="0.0"/>
   </joint>
-  <link name="l_hip_3">
+  <link name="chest">
     <inertial>
-      <origin xyz="0.002293400000000001 -0.012390400000000003 -0.038493" rpy="0 0 -1.5707963267948966"/>
-      <mass value="2.29352"/>
-      <inertia ixx="0.00410859" ixy="5.18011e-06" ixz="-0.000137838" iyy="0.00385326" iyz="6.77925e-06" izz="0.00385557"/>
+      <origin xyz="-0.0133964 -0.000262139 0.0551337" rpy="0 0 -1.5707963267948966"/>
+      <mass value="5.75757"/>
+      <inertia ixx="0.0255632" ixy="-5.31274e-05" ixz="9.38021e-05" iyy="0.0261369" iyz="-0.000610637" izz="0.0222276"/>
     </inertial>
     <visual>
-      <origin xyz="-0.011050000000000072 -0.07354999999999969 0.4125580000000003" rpy="0 0 -1.5707963267948966"/>
+      <origin xyz="0 0 0.11638800000000013" rpy="0 0 -1.5707963267948966"/>
       <geometry>
-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_hip_3_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_chest_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="blue">
         <color rgba="0 0 1 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.011050000000000072 -0.07354999999999969 0.4125580000000003" rpy="0 0 -1.5707963267948966"/>
+      <origin xyz="0 0 0.11638800000000013" rpy="0 0 -1.5707963267948966"/>
       <geometry>
-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_hip_3_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_chest_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="0.036699999999999997 0 -0.08969999999999995" rpy="0 0 0"/>
-    <parent link="l_hip_2"/>
-    <child link="l_hip_3"/>
+  <joint name="torso_yaw" type="revolute">
+    <origin xyz="0 0 0.06447000000000001" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <parent link="torso_2"/>
+    <child link="chest"/>
+    <limit effort="50000" lower="-0.7504915783575618" upper="0.7504915783575618" velocity="120.0"/>
+    <dynamics damping="0.06" friction="0.0"/>
+  </joint>
+  <link name="chest_rgb_frame"/>
+  <joint name="chest_rgb_frame_fixed_joint" type="fixed">
+    <origin xyz="0.0894115 -0.0115 0.09929950000000001" rpy="-1.5707963267948968 0 -1.5707963267948968"/>
+    <parent link="chest"/>
+    <child link="chest_rgb_frame"/>
     <dynamics damping="0.1"/>
   </joint>
-  <link name="l_upper_leg">
+  <link name="chest_depth_frame"/>
+  <joint name="chest_depth_frame_fixed_joint" type="fixed">
+    <origin xyz="0.0894115 0.0175 0.09929950000000001" rpy="-1.5707963267948968 0 -1.5707963267948968"/>
+    <parent link="chest"/>
+    <child link="chest_depth_frame"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_shoulder_1">
     <inertial>
-      <origin xyz="0.0111663 0.006184700000000008 -0.08457400000000004" rpy="0 0 -1.5707963267948966"/>
-      <mass value="2.24396"/>
-      <inertia ixx="0.00476284" ixy="6.71293e-05" ixz="-0.00033784" iyy="0.00479384" iyz="0.000493564" izz="0.00194527"/>
+      <origin xyz="0.00026441971857374055 -0.05747129038042943 0.0004210903629773867" rpy="-0.06688725064450136 0.24445256247619251 -1.840815419889917"/>
+      <mass value="1.45988"/>
+      <inertia ixx="0.01" ixy="-0.000616726" ixz="-0.000574688" iyy="0.01" iyz="-0.000161381" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.011050000000000084 -0.05854999999999981 0.48345800000000044" rpy="0 0 -1.5707963267948966"/>
+      <origin xyz="0.03041123335618441 0.029140462447480264 0.01909577433393811" rpy="-0.06688725064450136 0.24445256247619251 -1.840815419889917"/>
       <geometry>
-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_upper_leg_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="yellow">
         <color rgba="1 1 0 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.011050000000000084 -0.05854999999999981 0.48345800000000044" rpy="0 0 -1.5707963267948966"/>
+      <origin xyz="0.03041123335618441 0.029140462447480264 0.01909577433393811" rpy="-0.06688725064450136 0.24445256247619251 -1.840815419889917"/>
       <geometry>
-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_upper_leg_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="l_hip_yaw" type="revolute">
-    <origin xyz="0 -0.015000000000000006 -0.07090000000000007" rpy="0 0 0"/>
-    <axis xyz="0.0 0.0 1.0"/>
-    <parent link="l_hip_3"/>
-    <child link="l_upper_leg"/>
-    <limit effort="50000" lower="-1.3962634015954636" upper="1.3962634015954636" velocity="120.0"/>
+  <joint name="r_shoulder_pitch" type="revolute">
+    <origin xyz="-0.020835100000000002 -0.0397423 0.1052029" rpy="-0.25326164431680925 2.3014774394592079e-07 0.26179970938509745"/>
+    <axis xyz="1.499044390098182e-07 0.9999999783534812 -1.2401537036323317e-07"/>
+    <parent link="chest"/>
+    <child link="r_shoulder_1"/>
+    <limit effort="50000" lower="-1.53588974175501" upper="0.22689280275926285" velocity="120.0"/>
     <dynamics damping="0.06" friction="0.0"/>
   </joint>
-  <link name="l_lower_leg">
+  <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.01815996 -0.023756500000000007 -0.16374900000000003" rpy="0 0 -1.5707963267948966"/>
-      <mass value="4.59072"/>
-      <inertia ixx="0.0331663" ixy="-6.6797e-05" ixz="-0.0011637" iyy="0.0309756" iyz="0.00291057" izz="0.00525251"/>
+      <origin xyz="0.000711844151437005 -0.00028997131506725005 -0.027865575116629175" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <mass value="0.322126"/>
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-    <dynamics damping="0.06" friction="0.0"/>
-  </joint>
-  <link name="chest_rgb_frame"/>
-  <joint name="chest_rgb_frame_fixed_joint" type="fixed">
-    <origin xyz="0.0894115 -0.0115 0.09929950000000001" rpy="-1.5707963267948968 0 -1.5707963267948968"/>
-    <parent link="chest"/>
-    <child link="chest_rgb_frame"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="chest_depth_frame"/>
-  <joint name="chest_depth_frame_fixed_joint" type="fixed">
-    <origin xyz="0.0894115 0.0175 0.09929950000000001" rpy="-1.5707963267948968 0 -1.5707963267948968"/>
-    <parent link="chest"/>
-    <child link="chest_depth_frame"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_hand_prt.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="gray">
+        <color rgba="0.5 0.5 0.5 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.03574323261035172 0.1370391384923124 0.35604813291443793" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_hand_prt.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="r_wrist_yaw" type="continuous">
+    <origin xyz="-0.016300122874272734 0.006999390051091792 0" rpy="0 0 0"/>
+    <axis xyz="-2.4949582807394525e-07 1.0000002733514362 -2.7942487010105877e-08"/>
+    <parent link="r_wrist_1"/>
+    <child link="r_hand"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_shoulder_1">
     <inertial>
-      <origin xyz="0.0002918276617865645 0.05723090680782866 0.0005026028232598713" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
+      <origin xyz="0.0002918276617865645 0.05723090680782866 0.0005026028232598678" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
       <mass value="1.45562"/>
       <inertia ixx="0.01" ixy="0.000611891" ixz="0.000565594" iyy="0.01" iyz="-0.000159546" izz="0.01"/>
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     <visual>
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+      <origin xyz="0.030411223823216205 -0.02914047750374663 0.019095766539677893" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="black">
-        <color rgba="0 0 0 1"/>
+      <material name="green">
+        <color rgba="0 1 0 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0.030411223823216205 -0.02914047750374663 0.019095766539677896" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
+      <origin xyz="0.030411223823216205 -0.02914047750374663 0.019095766539677893" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -420,7 +386,7 @@
   </link>
   <joint name="l_shoulder_pitch" type="revolute">
     <origin xyz="-0.020835100000000002 0.0397423 0.1052029" rpy="0.25326162380993705 -1.1977334179319483e-07 -0.26179930184968747"/>
-    <axis xyz="3.323079797673039e-07 0.9999999783534342 1.4452224303407313e-07"/>
+    <axis xyz="3.323079797554136e-07 0.9999999783534342 1.4452224303420037e-07"/>
     <parent link="chest"/>
     <child link="l_shoulder_1"/>
     <limit effort="50000" lower="-1.53588974175501" upper="0.22689280275926285" velocity="120.0"/>
@@ -428,29 +394,29 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.0032933620254868984 0.0002563804707528261 -0.027865685757097337" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.003293362025486902 0.0002563804707528261 -0.027865685757097337" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <mass value="0.322126"/>
       <inertia ixx="0.01" ixy="-3.5032e-05" ixz="-2.4436e-05" iyy="0.01" iyz="-5.52877e-05" izz="0.01"/>
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     <visual>
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+      <origin xyz="0.02639309786919337 -0.14153112610649202 -0.0072523976446019255" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="red">
-        <color rgba="1 0 0 1"/>
+      <material name="black">
+        <color rgba="0 0 0 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0.026393097869193412 -0.14153112610649204 -0.007252397644602138" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.02639309786919337 -0.14153112610649202 -0.0072523976446019255" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="0.004992849331690818 0.111499838456099 0.0002686502277366859" rpy="-0.17453296140985 -0.05374759931933852 0"/>
-    <axis xyz="0.9999998262417684 2.0348252649342313e-07 -4.0230228454118944e-08"/>
+    <origin xyz="0.004992849331690818 0.111499838456099 0.00026865022773668243" rpy="-0.17453296140985003 -0.05374759931933849 0"/>
+    <axis xyz="0.9999998262417685 2.0348252625938444e-07 -4.023022846062156e-08"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.20943951023931956" upper="2.792526803190927" velocity="120.0"/>
@@ -458,57 +424,57 @@
   </joint>
   <link name="l_shoulder_3">
     <inertial>
-      <origin xyz="-4.41626402200232e-06 9.587749727052453e-05 -0.007326213473011087" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="-4.416264022005789e-06 9.587749727052453e-05 -0.007326213473011087" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
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       <inertia ixx="0.01" ixy="-3.76336e-07" ixz="2.93189e-06" iyy="0.01" iyz="-3.52325e-06" izz="0.01"/>
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     <visual>
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+      <origin xyz="0.030743231026171703 -0.14153148936381538 0.047047641079459794" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="blue">
-        <color rgba="0 0 1 1"/>
+      <material name="red">
+        <color rgba="1 0 0 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0.03074323102617175 -0.14153148936381543 0.047047641079459586" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.030743231026171703 -0.14153148936381538 0.047047641079459794" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_arm_ft_sensor" type="fixed">
-    <origin xyz="-0.004350133156978329 3.632573233880443e-07 -0.05430003872406172" rpy="0 0 0"/>
+    <origin xyz="-0.004350133156978318 3.632573233602887e-07 -0.05430003872406172" rpy="0 0 0"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_arm">
     <inertial>
-      <origin xyz="-4.828549686676509e-06 0.0019434824578757927 -0.04747357946817407" rpy="-0.062128608300921935 0.07142689081245782 0.27099931149673573"/>
+      <origin xyz="-4.828549686676509e-06 0.0019434824578758204 -0.04747357946817407" rpy="-0.06212860830092193 0.0714268908124578 0.27099931149673545"/>
       <mass value="2.06334"/>
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+      <origin xyz="0.030743149468679162 -0.14153106591133113 0.06954758245258448" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="yellow">
-        <color rgba="1 1 0 1"/>
+      <material name="blue">
+        <color rgba="0 0 1 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0.030743149468679242 -0.14153106591133105 0.06954758245258398" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.030743149468679162 -0.14153106591133113 0.06954758245258448" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0 -4.2345248449371375e-07 -0.02249994137312443" rpy="0 0 0"/>
-    <axis xyz="2.227647404040578e-08 -4.393786245948661e-08 -1.0000002566182309"/>
+    <origin xyz="0 -4.2345248449371375e-07 -0.022499941373124423" rpy="0 0 0"/>
+    <axis xyz="2.2276474049102235e-08 -4.393786247302041e-08 -1.0000002566182309"/>
     <parent link="l_shoulder_3"/>
     <child link="l_upper_arm"/>
     <limit effort="50000" lower="-0.8726646259971648" upper="1.3962634015954636" velocity="120.0"/>
@@ -516,21 +482,21 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="-0.010241946078109292 0.0018224069895867168 -0.01508962025855548" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="-0.010241946078109288 0.0018224069895867168 -0.015089620258555453" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <mass value="0.230254"/>
       <inertia ixx="0.01" ixy="7.51175e-07" ixz="-9.8725e-06" iyy="0.01" iyz="-1.03338e-05" izz="0.01"/>
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     <visual>
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+      <origin xyz="0.020743219233759835 -0.14003141848790232 0.19324791999016797" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_elbow_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="pink">
-        <color rgba="1 0 1 1"/>
+      <material name="yellow">
+        <color rgba="1 1 0 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0.02074321923375982 -0.14003141848790218 0.19324791999016772" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.020743219233759835 -0.14003141848790232 0.19324791999016797" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_elbow_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -538,7 +504,7 @@
   </link>
   <joint name="l_elbow" type="revolute">
     <origin xyz="0.009999930234919404 -0.001499647423428896 -0.12370033753758375" rpy="0 0 0"/>
-    <axis xyz="-8.811824154381087e-08 -1.0000002733514628 4.4047361189014644e-08"/>
+    <axis xyz="-8.811824174789715e-08 -1.0000002733514628 4.404736120498342e-08"/>
     <parent link="l_upper_arm"/>
     <child link="l_elbow_1"/>
     <limit effort="50000" lower="-0.05235987755982989" upper="1.3089969389957472" velocity="120.0"/>
@@ -546,29 +512,29 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="-0.006269874102298061 -4.68551245806359e-05 -0.030648347755607153" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="-0.0062698741022980675 -4.68551245806359e-05 -0.030648347755607208" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
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     <visual>
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+      <origin xyz="0.035743089887937486 -0.14203106199153712 0.24854798357264754" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_forearm_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="cyan">
-        <color rgba="0 1 1 1"/>
+      <material name="pink">
+        <color rgba="1 0 1 1"/>
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     </visual>
     <collision>
-      <origin xyz="0.03574308988793752 -0.14203106199153712 0.24854798357264754" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.035743089887937486 -0.14203106199153712 0.24854798357264754" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_forearm_prt.stl" scale="0.001 0.001 0.001"/>
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     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="-0.014999870654177704 0.0019996435036348514 -0.055300063582479825" rpy="0 0 0"/>
-    <axis xyz="2.227647404040578e-08 -4.393786245948661e-08 -1.0000002566182309"/>
+    <origin xyz="-0.0149998706541777 0.0019996435036348514 -0.0553000635824798" rpy="0 0 0"/>
+    <axis xyz="2.2276474049102235e-08 -4.393786247302041e-08 -1.0000002566182309"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
     <limit effort="50000" lower="-1.53588974175501" upper="1.53588974175501" velocity="120.0"/>
@@ -576,29 +542,29 @@
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.014390150453737368 -0.0005083960996520587 -9.893035257668714e-05" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="-0.014390150453737368 -0.0005083960996520864 -9.893035257668714e-05" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
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+      <origin xyz="0.019143073953651328 -0.1440379572096098 0.3560476247151885" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="green">
-        <color rgba="0 1 0 1"/>
+      <material name="cyan">
+        <color rgba="0 1 1 1"/>
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     </visual>
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+      <origin xyz="0.019143073953651328 -0.1440379572096098 0.3560476247151885" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
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   <joint name="l_wrist_pitch" type="revolute">
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-    <axis xyz="-0.9999998262417684 -2.0348252649342313e-07 4.0230228454118944e-08"/>
+    <origin xyz="0.016600015934286182 0.0020068952180725685 -0.10749964114254112" rpy="0 0 0"/>
+    <axis xyz="-0.9999998262417685 -2.0348252625938444e-07 4.023022846062156e-08"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
     <limit effort="50000" lower="-1.2217304763960306" upper="0.4363323129985824" velocity="120.0"/>
@@ -606,614 +572,648 @@
   </joint>
   <link name="l_hand">
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+      <origin xyz="0.004786523181334726 -0.0061337378723908265 -0.0672770617484692" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
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-    <limit effort="50000" lower="-1.53588974175501" upper="1.53588974175501" velocity="120.0"/>
-    <dynamics damping="0.06" friction="0.0"/>
+  <joint name="r_leg_ft_sensor" type="fixed">
+    <origin xyz="0.036699999999999997 0 -0.08969999999999995" rpy="0 0 0"/>
+    <parent link="r_hip_2"/>
+    <child link="r_hip_3"/>
+    <dynamics damping="0.1"/>
   </joint>
-  <link name="r_wrist_1">
+  <link name="r_upper_leg">
     <inertial>
-      <origin xyz="-0.014389827079018234 0.0005092753390522065 -9.787315764231419e-05" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
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+      <origin xyz="0.011073100000000002 -0.006118600000000009 -0.08428599999999997" rpy="0 0 -1.5707963267948966"/>
+      <mass value="2.2571"/>
+      <inertia ixx="0.00483819" ixy="-6.66159e-05" ixz="0.000338676" iyy="0.0048635" iyz="0.000517774" izz="0.00195808"/>
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+      <origin xyz="-0.011000000000000012 0.05864999999999984 0.48345800000000005" rpy="0 0 -1.5707963267948966"/>
       <geometry>
-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_upper_leg_prt.stl" scale="0.001 0.001 0.001"/>
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       <material name="blue">
         <color rgba="0 0 1 1"/>
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-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_upper_leg_prt.stl" scale="0.001 0.001 0.001"/>
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-    <origin xyz="0.016299953353948633 -0.002007442890811839 -0.10750007971210637" rpy="0 0 0"/>
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-    <parent link="r_forearm"/>
-    <child link="r_wrist_1"/>
-    <limit effort="50000" lower="-1.2217304763960306" upper="0.4363323129985824" velocity="120.0"/>
+  <joint name="r_hip_yaw" type="revolute">
+    <origin xyz="0 0.015000000000000006 -0.07090000000000007" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <parent link="r_hip_3"/>
+    <child link="r_upper_leg"/>
+    <limit effort="50000" lower="-1.3962634015954636" upper="1.3962634015954636" velocity="120.0"/>
     <dynamics damping="0.06" friction="0.0"/>
   </joint>
-  <link name="r_hand">
+  <link name="r_lower_leg">
     <inertial>
-      <origin xyz="0.004828314385249662 0.00615667237451184 -0.0671378028889843" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
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+      <origin xyz="-0.014088200000000002 0.0221175 -0.12884000000000007" rpy="0 0 -1.5707963267948966"/>
+      <mass value="5.89871"/>
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-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_hand_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_lower_leg_prt.stl" scale="0.001 0.001 0.001"/>
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       <material name="yellow">
         <color rgba="1 1 0 1"/>
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     <collision>
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+      <origin xyz="-0.026000000000000037 0.0835499999999998 0.589658" rpy="0 0 -1.5707963267948966"/>
       <geometry>
-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_hand_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_lower_leg_prt.stl" scale="0.001 0.001 0.001"/>
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     </collision>
   </link>
-  <joint name="r_wrist_yaw" type="continuous">
-    <origin xyz="-0.016300122874272734 0.0069993900510918194 0" rpy="0 0 0"/>
-    <axis xyz="-2.4949582809984105e-07 1.0000002733514362 -2.7942487004772865e-08"/>
-    <parent link="r_wrist_1"/>
-    <child link="r_hand"/>
-    <dynamics damping="0.1"/>
+  <joint name="r_knee" type="revolute">
+    <origin xyz="0.015000000000000003 -0.0249 -0.10619999999999996" rpy="0 0 0"/>
+    <axis xyz="0.0 -1.0 0.0"/>
+    <parent link="r_upper_leg"/>
+    <child link="r_lower_leg"/>
+    <limit effort="50000" lower="-1.2217304763960306" upper="0.08726646259971647" velocity="120.0"/>
+    <dynamics damping="0.06" friction="0.0"/>
   </joint>
-  <link name="neck_1">
+  <link name="r_ankle_1">
     <inertial>
-      <origin xyz="-0.0021259300000000003 0.00033753499999999997 0.031454700000000016" rpy="-1.5707963267948968 0 -1.5707963267948968"/>
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+      <origin xyz="-0.005962499999999999 0.0010981000000000046 -0.015748999999999902" rpy="0 0 -1.5707963267948966"/>
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     <visual>
-      <origin xyz="0.00865 0 0.049000000000000016" rpy="-1.5707963267948968 0 -1.5707963267948968"/>
+      <origin xyz="-0.026000000000000245 0.08304999999999924 0.8456470000000003" rpy="0 0 -1.5707963267948966"/>
       <geometry>
-        <mesh filename="package://iCub/meshes/simmechanics/sim_head_neck_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_ankle_1_prt.stl" scale="0.001 0.001 0.001"/>
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       <material name="pink">
         <color rgba="1 0 1 1"/>
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     </visual>
     <collision>
-      <origin xyz="0.00865 0 0.049000000000000016" rpy="-1.5707963267948968 0 -1.5707963267948968"/>
+      <origin xyz="-0.026000000000000245 0.08304999999999924 0.8456470000000003" rpy="0 0 -1.5707963267948966"/>
       <geometry>
-        <mesh filename="package://iCub/meshes/simmechanics/sim_head_neck_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_ankle_1_prt.stl" scale="0.001 0.001 0.001"/>
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     </collision>
   </link>
-  <joint name="neck_fixed_joint" type="fixed">
-    <origin xyz="-0.00378849 0 0.1652995" rpy="0 0 0"/>
-    <parent link="chest"/>
-    <child link="neck_1"/>
-    <dynamics damping="0.1"/>
+  <joint name="r_ankle_pitch" type="revolute">
+    <origin xyz="0 0.0005000000000000004 -0.255989" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <parent link="r_lower_leg"/>
+    <child link="r_ankle_1"/>
+    <limit effort="50000" lower="-0.7853981633974483" upper="0.7853981633974483" velocity="120.0"/>
+    <dynamics damping="0.06" friction="0.0"/>
   </joint>
-  <link name="neck_2">
+  <link name="r_ankle_2">
     <inertial>
-      <origin xyz="-0.0063756 3.63093e-05 0.006597499999999992" rpy="-1.5707963267948968 0 -1.5707963267948968"/>
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+      <origin xyz="0.0397505 7.059999999999012e-05 -0.02546499999999996" rpy="0 0 -1.5707963267948966"/>
+      <mass value="1.06609"/>
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     <visual>
-      <origin xyz="0 0 0" rpy="-1.5707963267948968 0 -1.5707963267948968"/>
+      <origin xyz="0.026749999999999875 0.0648499999999391 0.8806470000000108" rpy="0 0 -1.5707963267948966"/>
       <geometry>
-        <mesh filename="package://iCub/meshes/simmechanics/sim_head_neck_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_ankle_2_prt.stl" scale="0.001 0.001 0.001"/>
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       <material name="cyan">
         <color rgba="0 1 1 1"/>
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     </visual>
     <collision>
-      <origin xyz="0 0 0" rpy="-1.5707963267948968 0 -1.5707963267948968"/>
+      <origin xyz="0.026749999999999875 0.0648499999999391 0.8806470000000108" rpy="0 0 -1.5707963267948966"/>
       <geometry>
-        <mesh filename="package://iCub/meshes/simmechanics/sim_head_neck_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_ankle_2_prt.stl" scale="0.001 0.001 0.001"/>
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     </collision>
   </link>
-  <joint name="neck_pitch" type="revolute">
-    <origin xyz="0.00865 0 0.049000000000000016" rpy="0 0 0"/>
-    <axis xyz="0.0 -1.0 0.0"/>
-    <parent link="neck_1"/>
-    <child link="neck_2"/>
-    <limit effort="50000" lower="-0.5235987755982988" upper="0.3839724354387525" velocity="120.0"/>
+  <joint name="r_ankle_roll" type="revolute">
+    <origin xyz="-0.052750000000000005 0.018200000000000008 -0.03500000000000003" rpy="0 0 0"/>
+    <axis xyz="-1.0 0.0 0.0"/>
+    <parent link="r_ankle_1"/>
+    <child link="r_ankle_2"/>
+    <limit effort="50000" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="120.0"/>
     <dynamics damping="0.06" friction="0.0"/>
   </joint>
-  <link name="neck_3">
+  <link name="r_foot_front">
     <inertial>
-      <origin xyz="0.0012653999999999999 -8.218820291562122e-05 0.03610899999999334" rpy="-1.5707963267948968 0 -1.5707963267948968"/>
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     <visual>
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-        <mesh filename="package://iCub/meshes/simmechanics/sim_head_neck_3_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_foot_front_prt.stl" scale="0.001 0.001 0.001"/>
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       <material name="green">
         <color rgba="0 1 0 1"/>
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     </visual>
     <collision>
-      <origin xyz="0 0 -0.009500499999999995" rpy="-1.5707963267948968 0 -1.5707963267948968"/>
+      <origin xyz="0.0 0.0 0.003" rpy="0.0 0.0 0.0"/>
       <geometry>
-        <mesh filename="package://iCub/meshes/simmechanics/sim_head_neck_3_prt.stl" scale="0.001 0.001 0.001"/>
+        <box size="0.117 0.1 0.006"/>
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   </link>
-  <joint name="neck_roll" type="revolute">
-    <origin xyz="0 0 0.009500499999999995" rpy="0 0 0"/>
-    <axis xyz="1.0 0.0 0.0"/>
-    <parent link="neck_2"/>
-    <child link="neck_3"/>
-    <limit effort="50000" lower="-0.3490658503988659" upper="0.3490658503988659" velocity="120.0"/>
-    <dynamics damping="0.06" friction="0.0"/>
+  <joint name="r_foot_front_ft_sensor" type="fixed">
+    <origin xyz="0.13525 0 -0.06579999999999997" rpy="0 0 0"/>
+    <parent link="r_ankle_2"/>
+    <child link="r_foot_front"/>
+    <dynamics damping="0.1"/>
   </joint>
-  <link name="head">
+  <link name="r_foot_rear">
     <inertial>
-      <origin xyz="-0.020599810000021337 0.0005299479913152583 0.028135000000042792" rpy="-1.5707963267948966 0 -1.5707963267948966"/>
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     <visual>
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-        <mesh filename="package://iCub/meshes/simmechanics/sim_head_head_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_foot_rear_prt.stl" scale="0.001 0.001 0.001"/>
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       <material name="white">
         <color rgba="1 1 1 1"/>
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     </visual>
     <collision>
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+        <box size="0.117 0.1 0.006"/>
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   </link>
-  <joint name="neck_yaw" type="revolute">
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-    <axis xyz="-1.6255499221370677e-21 -1.0999983743979075e-15 1.0"/>
-    <parent link="neck_3"/>
-    <child link="head"/>
-    <limit effort="50000" lower="-0.7853981633974483" upper="0.7853981633974483" velocity="120.0"/>
-    <dynamics damping="0.06" friction="0.0"/>
+  <joint name="r_foot_rear_ft_sensor" type="fixed">
+    <origin xyz="0.016 0 -0.06579999999999997" rpy="0 0 0"/>
+    <parent link="r_ankle_2"/>
+    <child link="r_foot_rear"/>
+    <dynamics damping="0.1"/>
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-  <link name="imu_frame"/>
-  <joint name="imu_frame_fixed_joint" type="fixed">
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-    <parent link="head"/>
-    <child link="imu_frame"/>
+  <link name="r_sole"/>
+  <joint name="r_sole_fixed_joint" type="fixed">
+    <origin xyz="0.05963000000000001 0 0" rpy="0 0 0"/>
+    <parent link="r_foot_rear"/>
+    <child link="r_sole"/>
     <dynamics damping="0.1"/>
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-  <link name="r_hip_1">
+  <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.005357899999999999 -0.03359610000000001 -0.001346999999999987" rpy="0 0 -1.5707963267948966"/>
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+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_hip_1_prt.stl" scale="0.001 0.001 0.001"/>
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       <material name="dblue">
         <color rgba="0 0 0.8 1"/>
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     <collision>
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-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_hip_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_hip_1_prt.stl" scale="0.001 0.001 0.001"/>
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     </collision>
   </link>
-  <joint name="r_hip_pitch" type="revolute">
-    <origin xyz="0.0216 -0.040549999999999996 0" rpy="0 0 0"/>
+  <joint name="l_hip_pitch" type="revolute">
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     <axis xyz="0.0 -1.0 0.0"/>
     <parent link="root_link"/>
-    <child link="r_hip_1"/>
+    <child link="l_hip_1"/>
     <limit effort="50000" lower="-0.7853981633974483" upper="2.007128639793479" velocity="120.0"/>
     <dynamics damping="0.06" friction="0.0"/>
   </joint>
-  <link name="r_hip_2">
+  <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.005954300000000003 -6.869999999999099e-05 -0.03664600000000001" rpy="0 0 -1.5707963267948966"/>
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       <geometry>
-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_hip_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_hip_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="dgreen">
         <color rgba="0.1 0.8 0.1 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0.025699999999999983 0.07364999999996628 0.32285800000000775" rpy="0 0 -1.5707963267948966"/>
+      <origin xyz="0.025649999999999923 -0.07354999999999969 0.32285800000000037" rpy="0 0 -1.5707963267948966"/>
       <geometry>
-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_hip_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_hip_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="r_hip_roll" type="revolute">
-    <origin xyz="-0.0473 -0.03310000000000001 -0.009000000000000008" rpy="0 0 0"/>
-    <axis xyz="-1.0 0.0 0.0"/>
-    <parent link="r_hip_1"/>
-    <child link="r_hip_2"/>
+  <joint name="l_hip_roll" type="revolute">
+    <origin xyz="-0.04725 0.0331 -0.009000000000000008" rpy="0 0 0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+    <parent link="l_hip_1"/>
+    <child link="l_hip_2"/>
     <limit effort="50000" lower="-0.17453292519943295" upper="2.007128639793479" velocity="120.0"/>
     <dynamics damping="0.06" friction="0.0"/>
   </joint>
-  <link name="r_hip_3">
+  <link name="l_hip_3">
     <inertial>
-      <origin xyz="0.0050640000000000025 0.008557000000000009 -0.040248000000000006" rpy="0 0 -1.5707963267948966"/>
+      <origin xyz="0.002293400000000001 -0.012390400000000003 -0.038493" rpy="0 0 -1.5707963267948966"/>
       <mass value="2.29352"/>
-      <inertia ixx="0.00410859" ixy="0.0001577216506008059" ixz="0.00045518763382906374" iyy="0.00385326" iyz="-0.00018506299340505087" izz="0.00385557"/>
+      <inertia ixx="0.00410859" ixy="5.18011e-06" ixz="-0.000137838" iyy="0.00385326" iyz="6.77925e-06" izz="0.00385557"/>
     </inertial>
     <visual>
-      <origin xyz="-0.011000000000000017 0.07364999999996628 0.41255800000000764" rpy="0 0 -1.5707963267948966"/>
+      <origin xyz="-0.011050000000000072 -0.07354999999999969 0.4125580000000003" rpy="0 0 -1.5707963267948966"/>
       <geometry>
-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_hip_3_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_hip_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="gray">
         <color rgba="0.5 0.5 0.5 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.011000000000000017 0.07364999999996628 0.41255800000000764" rpy="0 0 -1.5707963267948966"/>
+      <origin xyz="-0.011050000000000072 -0.07354999999999969 0.4125580000000003" rpy="0 0 -1.5707963267948966"/>
       <geometry>
-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_hip_3_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_hip_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="r_leg_ft_sensor" type="fixed">
+  <joint name="l_leg_ft_sensor" type="fixed">
     <origin xyz="0.036699999999999997 0 -0.08969999999999995" rpy="0 0 0"/>
-    <parent link="r_hip_2"/>
-    <child link="r_hip_3"/>
+    <parent link="l_hip_2"/>
+    <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
-  <link name="r_upper_leg">
+  <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0108785 -0.0010395000000000057 -0.08361700000000005" rpy="0 0 -1.5707963267948966"/>
+      <origin xyz="0.0111663 0.006184700000000008 -0.08457400000000004" rpy="0 0 -1.5707963267948966"/>
       <mass value="2.24396"/>
-      <inertia ixx="0.00476284" ixy="-3.208266350807358e-05" ixz="0.00011628418121408622" iyy="0.00479384" iyz="0.00044296437443420755" izz="0.00194527"/>
+      <inertia ixx="0.00476284" ixy="6.71293e-05" ixz="-0.00033784" iyy="0.00479384" iyz="0.000493564" izz="0.00194527"/>
     </inertial>
     <visual>
-      <origin xyz="-0.010999999999999998 0.05864999999996624 0.48345800000000777" rpy="0 0 -1.5707963267948966"/>
+      <origin xyz="-0.01105 -0.058549999999999776 0.48345800000000044" rpy="0 0 -1.5707963267948966"/>
       <geometry>
-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_upper_leg_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_upper_leg_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="green">
         <color rgba="0 1 0 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.010999999999999998 0.05864999999996624 0.48345800000000777" rpy="0 0 -1.5707963267948966"/>
+      <origin xyz="-0.01105 -0.058549999999999776 0.48345800000000044" rpy="0 0 -1.5707963267948966"/>
       <geometry>
-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_upper_leg_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_upper_leg_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="r_hip_yaw" type="revolute">
-    <origin xyz="0 0.015000000000000006 -0.07090000000000007" rpy="0 0 0"/>
-    <axis xyz="0.0 0.0 -1.0"/>
-    <parent link="r_hip_3"/>
-    <child link="r_upper_leg"/>
+  <joint name="l_hip_yaw" type="revolute">
+    <origin xyz="0 -0.015000000000000006 -0.07090000000000007" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <parent link="l_hip_3"/>
+    <child link="l_upper_leg"/>
     <limit effort="50000" lower="-1.3962634015954636" upper="1.3962634015954636" velocity="120.0"/>
     <dynamics damping="0.06" friction="0.0"/>
   </joint>
-  <link name="r_lower_leg">
+  <link name="l_lower_leg">
     <inertial>
-      <origin xyz="-0.01810996 0.023856499999999996 -0.16374900000000003" rpy="0 0 0"/>
-      <mass value="4.59072"/>
-      <inertia ixx="0.0309756" ixy="-6.6797e-05" ixz="0.00291057" iyy="0.0331663" iyz="-0.0011637" izz="0.00525251"/>
+      <origin xyz="-0.014714199999999998 -0.022167400000000004 -0.13267799999999996" rpy="0 0 -1.5707963267948966"/>
+      <mass value="5.66584"/>
+      <inertia ixx="0.0578975" ixy="6.56617e-05" ixz="3.07278e-05" iyy="0.0550335" iyz="0.000320278" izz="0.00624087"/>
     </inertial>
     <visual>
-      <origin xyz="-0.026000000000000058 0.08354999999996623 0.5896580000000077" rpy="0 0 -1.5707963267948966"/>
+      <origin xyz="-0.026050000000000094 -0.08344999999999987 0.5896580000000003" rpy="0 0 -1.5707963267948966"/>
       <geometry>
-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_lower_leg_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_lower_leg_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="black">
         <color rgba="0 0 0 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.026000000000000058 0.08354999999996623 0.5896580000000077" rpy="0 0 -1.5707963267948966"/>
+      <origin xyz="-0.026050000000000094 -0.08344999999999987 0.5896580000000003" rpy="0 0 -1.5707963267948966"/>
       <geometry>
-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_lower_leg_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_lower_leg_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="r_knee" type="revolute">
-    <origin xyz="0.015000000000000003 -0.0249 -0.10619999999999996" rpy="0 0 0"/>
+  <joint name="l_knee" type="revolute">
+    <origin xyz="0.015 0.024900000000000012 -0.10619999999999996" rpy="0 0 0"/>
     <axis xyz="0.0 -1.0 0.0"/>
-    <parent link="r_upper_leg"/>
-    <child link="r_lower_leg"/>
+    <parent link="l_upper_leg"/>
+    <child link="l_lower_leg"/>
     <limit effort="50000" lower="-1.2217304763960306" upper="0.08726646259971647" velocity="120.0"/>
     <dynamics damping="0.06" friction="0.0"/>
   </joint>
-  <link name="r_ankle_1">
+  <link name="l_ankle_1">
     <inertial>
-      <origin xyz="-0.0052558000000000014 0.002301599999999987 -0.018286000000000024" rpy="0 0 -1.5707963267948966"/>
-      <mass value="1.80595"/>
-      <inertia ixx="0.01" ixy="-0.00011193325094648436" ixz="-0.00023180543265495062" iyy="0.01" iyz="-0.00010678991458219672" izz="0.01"/>
+      <origin xyz="-0.005967799999999999 -0.0010993000000000114 -0.015761000000000025" rpy="0 0 -1.5707963267948966"/>
+      <mass value="0.366025"/>
+      <inertia ixx="0.01" ixy="3.70126e-05" ixz="5.91604e-05" iyy="0.01" iyz="-2.72765e-05" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.02600000000000011 0.08304999999996568 0.8456470000000077" rpy="0 0 -1.5707963267948966"/>
+      <origin xyz="-0.026050000000000184 -0.08294999999999977 0.8456470000000004" rpy="0 0 -1.5707963267948966"/>
       <geometry>
-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_ankle_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_ankle_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="red">
         <color rgba="1 0 0 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.02600000000000011 0.08304999999996568 0.8456470000000077" rpy="0 0 -1.5707963267948966"/>
+      <origin xyz="-0.026050000000000184 -0.08294999999999977 0.8456470000000004" rpy="0 0 -1.5707963267948966"/>
       <geometry>
-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_ankle_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_ankle_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="r_ankle_pitch" type="revolute">
-    <origin xyz="0 0.0005000000000000004 -0.255989" rpy="0 0 0"/>
+  <joint name="l_ankle_pitch" type="revolute">
+    <origin xyz="0 -0.0005000000000000004 -0.255989" rpy="0 0 0"/>
     <axis xyz="0.0 1.0 0.0"/>
-    <parent link="r_lower_leg"/>
-    <child link="r_ankle_1"/>
+    <parent link="l_lower_leg"/>
+    <child link="l_ankle_1"/>
     <limit effort="50000" lower="-0.7853981633974483" upper="0.7853981633974483" velocity="120.0"/>
     <dynamics damping="0.06" friction="0.0"/>
   </joint>
-  <link name="r_ankle_2">
+  <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0395675 7.049999999998724e-05 -0.025381999999999905" rpy="0 0 -1.5707963267948966"/>
-      <mass value="1.06976"/>
-      <inertia ixx="0.01" ixy="-5.609926378638145e-06" ixz="1.5891222438924056e-06" iyy="0.01" iyz="0.0009010700389876306" izz="0.01"/>
+      <origin xyz="0.0395705 -8.679999999999799e-05 -0.025456999999999952" rpy="0 0 -1.5707963267948966"/>
+      <mass value="1.06953"/>
+      <inertia ixx="0.01" ixy="5.20865e-06" ixz="-3.95084e-06" iyy="0.01" iyz="0.000893221" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.026749999999999875 0.0648499999999391 0.8806470000000108" rpy="0 0 -1.5707963267948966"/>
+      <origin xyz="0.026700000000000015 -0.06475000000001183 0.8806469999999995" rpy="0 0 -1.5707963267948966"/>
       <geometry>
-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_ankle_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_ankle_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="blue">
         <color rgba="0 0 1 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0.026749999999999875 0.0648499999999391 0.8806470000000108" rpy="0 0 -1.5707963267948966"/>
+      <origin xyz="0.026700000000000015 -0.06475000000001183 0.8806469999999995" rpy="0 0 -1.5707963267948966"/>
       <geometry>
-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_ankle_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_ankle_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="r_ankle_roll" type="revolute">
-    <origin xyz="-0.052750000000000005 0.018200000000000008 -0.03500000000000003" rpy="0 0 0"/>
-    <axis xyz="-1.0 0.0 0.0"/>
-    <parent link="r_ankle_1"/>
-    <child link="r_ankle_2"/>
+  <joint name="l_ankle_roll" type="revolute">
+    <origin xyz="-0.052750000000000005 -0.018200000000000008 -0.03500000000000003" rpy="0 0 0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+    <parent link="l_ankle_1"/>
+    <child link="l_ankle_2"/>
     <limit effort="50000" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="120.0"/>
     <dynamics damping="0.06" friction="0.0"/>
   </joint>
-  <link name="r_foot_front">
+  <link name="l_foot_rear">
     <inertial>
-      <origin xyz="0.0005860000000000032 0 0.0029439999999999467" rpy="0 0 -1.5707963267948966"/>
-      <mass value="0.184375"/>
-      <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="-6.05088e-09" izz="0.01"/>
+      <origin xyz="0.0005056000000000001 3.350000000000575e-05 0.003658999999999968" rpy="0 0 -1.5707963267948966"/>
+      <mass value="0.184608"/>
+      <inertia ixx="0.01" ixy="-3.94431e-07" ixz="3.49332e-06" iyy="0.01" iyz="8.41971e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10850000000000011 0.06484999999993908 0.9464470000000105" rpy="0 0 -1.5707963267948966"/>
+      <origin xyz="0.010700000000000006 -0.06475000000001183 0.9464469999999993" rpy="0 0 -1.5707963267948966"/>
       <geometry>
-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_foot_front_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_foot_rear_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="yellow">
         <color rgba="1 1 0 1"/>
@@ -1226,22 +1226,29 @@
       </geometry>
     </collision>
   </link>
-  <joint name="r_foot_front_ft_sensor" type="fixed">
-    <origin xyz="0.13525 0 -0.06579999999999997" rpy="0 0 0"/>
-    <parent link="r_ankle_2"/>
-    <child link="r_foot_front"/>
+  <joint name="l_foot_rear_ft_sensor" type="fixed">
+    <origin xyz="0.016 0 -0.06579999999999997" rpy="0 0 0"/>
+    <parent link="l_ankle_2"/>
+    <child link="l_foot_rear"/>
     <dynamics damping="0.1"/>
   </joint>
-  <link name="r_foot_rear">
+  <link name="l_sole"/>
+  <joint name="l_sole_fixed_joint" type="fixed">
+    <origin xyz="0.05963 0 0" rpy="0 0 0"/>
+    <parent link="l_foot_rear"/>
+    <child link="l_sole"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_foot_front">
     <inertial>
-      <origin xyz="-0.00021610000000000032 -9.280000000001787e-05 0.00317400000000001" rpy="0 0 -1.5707963267948966"/>
-      <mass value="0.18484137"/>
-      <inertia ixx="0.01" ixy="-2.5651250600641865e-07" ixz="-2.2147748640508236e-08" iyy="0.01" iyz="1.983394982171303e-08" izz="0.01"/>
+      <origin xyz="7.700000000000762e-05 -3.990000000000937e-05 0.004256999999999955" rpy="0 0 -1.5707963267948966"/>
+      <mass value="0.185074"/>
+      <inertia ixx="0.01" ixy="3.66787e-07" ixz="2.80714e-07" iyy="0.01" iyz="3.61549e-05" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.010749999999999881 0.0648499999999391 0.9464470000000105" rpy="0 0 -1.5707963267948966"/>
+      <origin xyz="-0.10854999999999998 -0.06475000000001183 0.9464469999999993" rpy="0 0 -1.5707963267948966"/>
       <geometry>
-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_foot_rear_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_foot_front_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="pink">
         <color rgba="1 0 1 1"/>
@@ -1254,17 +1261,10 @@
       </geometry>
     </collision>
   </link>
-  <joint name="r_foot_rear_ft_sensor" type="fixed">
-    <origin xyz="0.016 0 -0.06579999999999997" rpy="0 0 0"/>
-    <parent link="r_ankle_2"/>
-    <child link="r_foot_rear"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_sole"/>
-  <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.05963000000000001 0 0" rpy="0 0 0"/>
-    <parent link="r_foot_rear"/>
-    <child link="r_sole"/>
+  <joint name="l_foot_front_ft_sensor" type="fixed">
+    <origin xyz="0.13524999999999998 0 -0.06579999999999997" rpy="0 0 0"/>
+    <parent link="l_ankle_2"/>
+    <child link="l_foot_front"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="base_link"/>
@@ -1524,7 +1524,7 @@
         <frame>sensor</frame>
         <measure_direction>child_to_parent</measure_direction>
       </force_torque>
-      <pose>-0.004350133156978329 3.632573233880443e-07 -0.05430003872406172 3.141592646862139 -3.104683320142575e-08 -1.5707962571980942</pose>
+      <pose>-0.004350133156978318 3.632573233602887e-07 -0.05430003872406172 3.141592646862139 -3.10468332187885e-08 -1.5707962571980942</pose>
       <plugin name="left_arm_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
   <yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_left_arm_ft.ini</yarpConfigurationFile>
 </plugin>
@@ -1536,7 +1536,7 @@
       <frame>sensor</frame>
       <measure_direction>child_to_parent</measure_direction>
     </force_torque>
-    <origin rpy="3.141592646862139 -3.104683320142575e-08 -1.5707962571980942" xyz="-0.004350133156978329 3.632573233880443e-07 -0.05430003872406172"/>
+    <origin rpy="3.141592646862139 -3.10468332187885e-08 -1.5707962571980942" xyz="-0.004350133156978318 3.632573233602887e-07 -0.05430003872406172"/>
   </sensor>
   <gazebo reference="r_arm_ft_sensor">
     <sensor name="r_arm_ft_sensor" type="force_torque">
@@ -1546,7 +1546,7 @@
         <frame>sensor</frame>
         <measure_direction>child_to_parent</measure_direction>
       </force_torque>
-      <pose>-0.006849946385389875 2.1904996055921444e-07 -0.05429998157789099 3.141592644717707 4.094299285979593e-08 1.5707964185756365</pose>
+      <pose>-0.006849946385389872 2.1904996058697002e-07 -0.05429998157789099 3.141592644717707 4.094299285979593e-08 1.5707964185756365</pose>
       <plugin name="right_arm_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
   <yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_right_arm_ft.ini</yarpConfigurationFile>
 </plugin>
@@ -1558,7 +1558,7 @@
       <frame>sensor</frame>
       <measure_direction>child_to_parent</measure_direction>
     </force_torque>
-    <origin rpy="3.141592644717707 4.094299285979593e-08 1.5707964185756365" xyz="-0.006849946385389875 2.1904996055921444e-07 -0.05429998157789099"/>
+    <origin rpy="3.141592644717707 4.094299285979593e-08 1.5707964185756365" xyz="-0.006849946385389872 2.1904996058697002e-07 -0.05429998157789099"/>
   </sensor>
   <gazebo reference="l_foot_front_ft_sensor">
     <sensor name="l_foot_front_ft_sensor" type="force_torque">
@@ -1568,7 +1568,7 @@
         <frame>sensor</frame>
         <measure_direction>parent_to_child</measure_direction>
       </force_torque>
-      <pose>0.13524999999999998 0.0 -0.04349999999999998 0.0 -0.0 -2.094395210586932</pose>
+      <pose>0.0 0.0 0.022299999999999986 0.0 -0.0 -2.094395210586932</pose>
       <plugin name="left_foot_front_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
   <yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_left_foot_front_ft.ini</yarpConfigurationFile>
 </plugin>
@@ -1580,7 +1580,7 @@
       <frame>sensor</frame>
       <measure_direction>parent_to_child</measure_direction>
     </force_torque>
-    <origin rpy="0.0 -0.0 -2.094395210586932" xyz="0.13524999999999998 0.0 -0.04349999999999998"/>
+    <origin rpy="0.0 -0.0 -2.094395210586932" xyz="0.0 0.0 0.022299999999999986"/>
   </sensor>
   <gazebo reference="l_foot_rear_ft_sensor">
     <sensor name="l_foot_rear_ft_sensor" type="force_torque">
@@ -1590,7 +1590,7 @@
         <frame>sensor</frame>
         <measure_direction>parent_to_child</measure_direction>
       </force_torque>
-      <pose>0.016 0.0 -0.04349999999999998 0.0 -0.0 -2.094395210586932</pose>
+      <pose>0.0 0.0 0.022299999999999986 0.0 -0.0 -2.094395210586932</pose>
       <plugin name="left_foot_rear_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
   <yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_left_foot_rear_ft.ini</yarpConfigurationFile>
 </plugin>
@@ -1602,7 +1602,7 @@
       <frame>sensor</frame>
       <measure_direction>parent_to_child</measure_direction>
     </force_torque>
-    <origin rpy="0.0 -0.0 -2.094395210586932" xyz="0.016 0.0 -0.04349999999999998"/>
+    <origin rpy="0.0 -0.0 -2.094395210586932" xyz="0.0 0.0 0.022299999999999986"/>
   </sensor>
   <gazebo reference="r_foot_front_ft_sensor">
     <sensor name="r_foot_front_ft_sensor" type="force_torque">
@@ -1612,7 +1612,7 @@
         <frame>sensor</frame>
         <measure_direction>parent_to_child</measure_direction>
       </force_torque>
-      <pose>0.13525 0.0 -0.04349999999999998 0.0 -0.0 -2.094395210586932</pose>
+      <pose>0.0 0.0 0.022299999999999986 0.0 -0.0 -2.094395210586932</pose>
       <plugin name="right_foot_front_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
   <yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_right_foot_front_ft.ini</yarpConfigurationFile>
 </plugin>
@@ -1624,7 +1624,7 @@
       <frame>sensor</frame>
       <measure_direction>parent_to_child</measure_direction>
     </force_torque>
-    <origin rpy="0.0 -0.0 -2.094395210586932" xyz="0.13525 0.0 -0.04349999999999998"/>
+    <origin rpy="0.0 -0.0 -2.094395210586932" xyz="0.0 0.0 0.022299999999999986"/>
   </sensor>
   <gazebo reference="r_foot_rear_ft_sensor">
     <sensor name="r_foot_rear_ft_sensor" type="force_torque">
@@ -1634,7 +1634,7 @@
         <frame>sensor</frame>
         <measure_direction>parent_to_child</measure_direction>
       </force_torque>
-      <pose>0.016 0.0 -0.04349999999999998 0.0 -0.0 -2.094395210586932</pose>
+      <pose>0.0 0.0 0.022299999999999986 0.0 -0.0 -2.094395210586932</pose>
       <plugin name="right_foot_rear_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
   <yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_right_foot_rear_ft.ini</yarpConfigurationFile>
 </plugin>
@@ -1646,7 +1646,7 @@
       <frame>sensor</frame>
       <measure_direction>parent_to_child</measure_direction>
     </force_torque>
-    <origin rpy="0.0 -0.0 -2.094395210586932" xyz="0.016 0.0 -0.04349999999999998"/>
+    <origin rpy="0.0 -0.0 -2.094395210586932" xyz="0.0 0.0 0.022299999999999986"/>
   </sensor>
   <gazebo reference="head">
     <sensor name="head_imu_acc_1x1" type="imu">
diff --git a/iCub/robots/iCubGenova01/model.urdf b/iCub/robots/iCubGenova01/model.urdf
index 1acd7d5..676aece 100644
--- a/iCub/robots/iCubGenova01/model.urdf
+++ b/iCub/robots/iCubGenova01/model.urdf
@@ -23,12 +23,12 @@
   </link>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -37,7 +37,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -199,7 +199,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
+    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -213,7 +213,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
+    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -241,7 +241,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
+    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -269,21 +269,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
+    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
+    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
+    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -318,14 +318,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
+    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
+    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -339,21 +339,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
+    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
+    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
+    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -374,14 +374,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
+    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
+    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -402,7 +402,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
+    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -416,7 +416,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
+    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -511,12 +511,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.03360009999999998 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.033600099999999994 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.382866"/>
       <inertia ixx="0.00120946" ixy="3.74585e-07" ixz="-5.78759e-05" iyy="0.00141439" iyz="-7.80325e-06" izz="0.000273599"/>
     </inertial>
     <visual>
-      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -525,7 +525,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -539,14 +539,14 @@
   </joint>
   <link name="r_sole"/>
   <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.003499999999999996 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
+    <origin xyz="0.003500000000000003 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_0"/>
   <joint name="r_sole_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.06047669999999999 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.060476699999999994 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_0"/>
     <dynamics damping="0.1"/>
@@ -560,14 +560,14 @@
   </joint>
   <link name="r_sole_skin_2"/>
   <joint name="r_sole_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.09320869999999998 -0.032368 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.09320869999999999 -0.032368 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_3"/>
   <joint name="r_sole_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.11158309999999996 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.11158309999999998 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_3"/>
     <dynamics damping="0.1"/>
@@ -609,112 +609,112 @@
   </joint>
   <link name="r_sole_skin_12"/>
   <joint name="r_sole_skin_12_fixed_joint" type="fixed">
-    <origin xyz="0.08286799999999997 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.08286799999999998 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_12"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_13"/>
   <joint name="r_sole_skin_13_fixed_joint" type="fixed">
-    <origin xyz="0.10124239999999997 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.10124239999999998 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_13"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_14"/>
   <joint name="r_sole_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05013603999999998 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.050136039999999986 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_14"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_15"/>
   <joint name="r_sole_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.046119189999999984 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.04611918999999999 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_17"/>
   <joint name="r_sole_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.029685499999999997 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.02968549999999999 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_18"/>
   <joint name="r_sole_skin_18_fixed_joint" type="fixed">
-    <origin xyz="-0.04805990000000001 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.0480599 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_18"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_19"/>
   <joint name="r_sole_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.05207670000000001 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.052076700000000004 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_20"/>
   <joint name="r_sole_skin_20_fixed_joint" type="fixed">
-    <origin xyz="-0.037719200000000015 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.03771920000000001 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_21"/>
   <joint name="r_sole_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.03577849999999998 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.03577849999999999 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_21"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_22"/>
   <joint name="r_sole_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.02774479999999999 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.027744799999999997 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_22"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_24"/>
   <joint name="r_sole_skin_24_fixed_joint" type="fixed">
-    <origin xyz="-0.004987200000000004 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.004987199999999997 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_24"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_25"/>
   <joint name="r_sole_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.013387199999999995 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.013387200000000002 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_25"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_26"/>
   <joint name="r_sole_skin_26_fixed_joint" type="fixed">
-    <origin xyz="0.017404099999999985 0.0133722 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.017404099999999992 0.0133722 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_26"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_27"/>
   <joint name="r_sole_skin_27_fixed_joint" type="fixed">
-    <origin xyz="0.0030464999999999798 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.0030464999999999867 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_27"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_28"/>
   <joint name="r_sole_skin_28_fixed_joint" type="fixed">
-    <origin xyz="-0.015327899999999998 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.015327899999999992 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_28"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_29"/>
   <joint name="r_sole_skin_29_fixed_joint" type="fixed">
-    <origin xyz="-0.019344800000000002 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.019344799999999995 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_29"/>
     <dynamics damping="0.1"/>
@@ -938,12 +938,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
+      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000158626" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.000206526" iyz="1.19785e-06" izz="0.000104956"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -952,15 +952,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
-    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
+    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -989,7 +989,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
+    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -1026,12 +1026,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13344e-05" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="5.86947e-05" iyz="3.92498e-06" izz="9.68353e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1040,7 +1040,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1056,7 +1056,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -1077,7 +1077,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -1086,35 +1086,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1135,14 +1135,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -1170,7 +1170,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -1191,35 +1191,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1254,19 +1254,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="5.57722e-06" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="5.29845e-06" iyz="-1.59685e-07" izz="1.87724e-06"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1275,14 +1275,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -1312,7 +1312,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -1358,12 +1358,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
+      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000159621" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.000222574" iyz="1.20112e-06" izz="0.000120056"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1372,15 +1372,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
-    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
+    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -1409,7 +1409,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
+    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -1446,7 +1446,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13352e-05" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="5.86823e-05" iyz="3.9319e-06" izz="9.68469e-05"/>
     </inertial>
@@ -1476,7 +1476,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -1497,7 +1497,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -1506,35 +1506,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1555,7 +1555,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -1576,7 +1576,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -1611,35 +1611,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1653,7 +1653,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1674,19 +1674,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="5.56774e-06" ixy="3.08362e-08" ixz="9.42153e-07" iyy="5.28838e-06" iyz="-1.58924e-07" izz="1.87579e-06"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1695,14 +1695,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1732,7 +1732,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1748,12 +1748,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1762,7 +1762,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1778,12 +1778,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0011062999999999906 1.7299999999997873e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0011062999999999976 1.730000000001175e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.415987"/>
       <inertia ixx="0.000475741" ixy="2.89355e-07" ixz="-6.72876e-08" iyy="0.000279828" iyz="6.7417e-06" izz="0.000307828"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1792,14 +1792,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
+    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1808,12 +1808,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.00012289999999999524 -0.00028229999999998534 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012290000000000217 -0.0002822999999999992 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="3.27938e-05" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="5.69957e-05" iyz="3.32338e-08" izz="3.26449e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1822,26 +1822,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008301999999999893 7.519999999998361e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008301999999999962 7.519999999999749e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868999999999982 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868999999999913 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1850,7 +1850,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1866,7 +1866,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.05125669999999999 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.051256699999999995 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1880,12 +1880,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.000999800000000002 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0009997999999999951 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1894,7 +1894,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1910,12 +1910,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015153099999999996 0.000902 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.015153099999999989 0.0009020000000000139 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447429734460005" ixy="-1.1322603878053663e-06" ixz="3.046651057758992e-05" iyy="0.0004478873540695352" iyz="2.5726583414130826e-06" izz="0.0003076030453774591"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1924,7 +1924,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1940,12 +1940,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011447000000000054 3.5999999999786203e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0011446999999999985 3.599999999992498e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.265122"/>
       <inertia ixx="0.000327222" ixy="-4.74606e-08" ixz="4.94571e-08" iyy="0.000248285" iyz="-4.29975e-06" izz="0.000150937"/>
     </inertial>
     <visual>
-      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1954,7 +1954,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1991,7 +1991,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.003499999999999996 0 -0.0605" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.003500000000000003 0 -0.0605" rpy="3.141592653589793 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2658,13 +2658,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2706,13 +2706,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2754,13 +2754,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2778,13 +2778,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2814,13 +2814,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2838,13 +2838,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2862,13 +2862,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -3004,24 +3004,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -3063,13 +3063,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
+      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
@@ -3087,178 +3087,178 @@
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07847939999999998 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
+      <pose>0.07847939999999999 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999998 -0.011812200000000009 -0.001214999999999966"/>
+    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999999 -0.011812200000000009 -0.001214999999999966"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012577000000000005 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.012577000000000012 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000005 -0.04040720000000002 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000012 -0.04040720000000002 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012574999999999996 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012575000000000003 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012574999999999996 0.04040679999999998 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575000000000003 0.04040679999999998 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.01308100000000001 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.013081000000000016 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.01308100000000001 -0.04040720000000002 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000016 -0.04040720000000002 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013078999999999993 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.013079 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999993 0.04040679999999998 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013079 0.04040679999999998 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04200169 0.03156479999999999 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
+      <pose>0.042001689999999994 0.03156479999999999 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.04200169 0.03156479999999999 0.04913199999999998"/>
+    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.042001689999999994 0.03156479999999999 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352114999999999 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352114999999998 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999999 0.007765700000000014 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999998 0.007765700000000014 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053784999999999986 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999998 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429400000000002 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999998 -0.014429400000000002 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.03412954999999999 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412954999999998 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999999 -0.0414999 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999998 -0.0414999 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378499999999999 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.043785 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999999 0.017810999999999994 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043785 0.017810999999999994 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785000000000004 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.04378500000000001 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785000000000004 -0.014191800000000011 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378500000000001 -0.014191800000000011 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.043513791999999996 0.011314499999999963 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04351379199999999 0.011314499999999963 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.043513791999999996 0.011314499999999963 -0.09276499999999999"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351379199999999 0.011314499999999963 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.044503353999999995 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04450335399999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503353999999995 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450335399999999 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05313352999999999 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.053133529999999984 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313352999999999 0.017184099999999994 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133529999999984 0.017184099999999994 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
@@ -3276,25 +3276,25 @@
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915200000000003 0.04274479999999997 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
+      <pose>0.025915199999999996 0.04274479999999997 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.025915200000000003 0.04274479999999997 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915199999999996 0.04274479999999997 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999984 -0.041718700000000025 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
+      <pose>0.018459299999999977 -0.041718700000000025 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999984 -0.041718700000000025 -0.09295800000000004"/>
+    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999977 -0.041718700000000025 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
@@ -3368,45 +3368,45 @@
     <sensor name="l_upper_leg_ft_acc_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_acc_3b12" type="accelerometer">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_hip_2">
     <sensor name="l_upper_leg_ft_gyro_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_gyro_3b12" type="gyroscope">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_acc_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_acc_3b13" type="accelerometer">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_gyro_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_gyro_3b13" type="gyroscope">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
   </sensor>
   <gazebo>
     <pose>0.0 0.0 0.63 0.0 0.0 3.14</pose>
diff --git a/iCub/robots/iCubGenova02/model.urdf b/iCub/robots/iCubGenova02/model.urdf
index 612b79d..188d3d3 100644
--- a/iCub/robots/iCubGenova02/model.urdf
+++ b/iCub/robots/iCubGenova02/model.urdf
@@ -247,12 +247,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
+      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000158626" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.000206526" iyz="1.19785e-06" izz="0.000104956"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -261,15 +261,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
-    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
+    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -298,7 +298,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
+    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -335,12 +335,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13344e-05" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="5.86947e-05" iyz="3.92498e-06" izz="9.68353e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -349,7 +349,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -365,7 +365,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -386,7 +386,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -395,35 +395,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -444,14 +444,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -479,7 +479,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -500,35 +500,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -542,7 +542,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -563,19 +563,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="5.57722e-06" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="5.29845e-06" iyz="-1.59685e-07" izz="1.87724e-06"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -584,14 +584,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -621,7 +621,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -667,12 +667,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
+      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000159621" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.000222574" iyz="1.20112e-06" izz="0.000120056"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -681,15 +681,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
-    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
+    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -718,7 +718,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
+    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -755,7 +755,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13352e-05" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="5.86823e-05" iyz="3.9319e-06" izz="9.68469e-05"/>
     </inertial>
@@ -785,7 +785,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -806,7 +806,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -815,35 +815,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -864,7 +864,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -885,7 +885,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -920,35 +920,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -962,7 +962,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -983,19 +983,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="5.56774e-06" ixy="3.08362e-08" ixz="9.42153e-07" iyy="5.28838e-06" iyz="-1.58924e-07" izz="1.87579e-06"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1004,14 +1004,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1041,7 +1041,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1057,12 +1057,12 @@
   </joint>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1071,7 +1071,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.058310299999999995 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
+    <origin xyz="0.058310299999999995 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1247,7 +1247,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208552 0.03044339999999998 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
+    <origin xyz="0.05208552 0.03044339999999998 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -1275,7 +1275,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999999 -0.03117600000000001 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
+    <origin xyz="0.05504769999999999 -0.03117600000000001 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -1303,21 +1303,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.035753400000000005 0.04106279999999999 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
+    <origin xyz="0.035753400000000005 0.04106279999999999 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.023441900000000012 0.04799079999999998 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
+    <origin xyz="0.023441900000000012 0.04799079999999998 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.02427040000000001 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
+    <origin xyz="0.02427040000000001 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -1352,14 +1352,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.047748659999999984 -0.031231999999999996 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
+    <origin xyz="0.047748659999999984 -0.031231999999999996 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322408999999999 -0.01560180000000004 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
+    <origin xyz="0.05322408999999999 -0.01560180000000004 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -1373,21 +1373,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880466999999999 -0.031263 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
+    <origin xyz="0.04880466999999999 -0.031263 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999999 -0.01591290000000002 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
+    <origin xyz="0.05660089999999999 -0.01591290000000002 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.057010599999999995 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
+    <origin xyz="0.057010599999999995 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -1408,14 +1408,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641629999999995 0.01763889999999997 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
+    <origin xyz="0.052641629999999995 0.01763889999999997 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113137 0.032438499999999953 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
+    <origin xyz="0.04113137 0.032438499999999953 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -1436,7 +1436,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998319999999995 0.0012663999999999592 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
+    <origin xyz="0.052998319999999995 0.0012663999999999592 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -1450,7 +1450,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127079999999986 -0.030749000000000026 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
+    <origin xyz="0.045127079999999986 -0.030749000000000026 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -1485,12 +1485,12 @@
   </joint>
   <link name="r_ankle_1">
     <inertial>
-      <origin xyz="0.015143405473968821 -0.0008685000000000082 4.2859082720503316e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.015143405473968807 -0.0008685000000000082 4.2859082720503316e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.6803"/>
       <inertia ixx="0.0004046207392315529" ixy="8.523488844593136e-06" ixz="-2.8913590319053794e-05" iyy="0.0004379396781535379" iyz="3.7330395179426065e-05" izz="0.00031892819418424145"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272424511754 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424511755 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1499,7 +1499,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272424511754 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424511755 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1515,12 +1515,12 @@
   </joint>
   <link name="r_ankle_2">
     <inertial>
-      <origin xyz="0.0011452157753235187 -8.299999999988872e-06 -0.038511854107377785" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.0011452157753235048 -8.299999999988872e-06 -0.038511854107377785" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.265337"/>
       <inertia ixx="0.000327646" ixy="-7.94989e-08" ixz="8.24551e-09" iyy="0.000244632" iyz="2.0701e-05" izz="0.000155777"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272442308744 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442308745 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1529,7 +1529,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272442308744 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442308745 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1537,7 +1537,7 @@
   </link>
   <joint name="r_ankle_roll" type="revolute">
     <origin xyz="0 0 0" rpy="0 0 0"/>
-    <axis xyz="-1.0000001561184808 -6.013654019199066e-16 1.1979394973216095e-07"/>
+    <axis xyz="-1.0000001561184808 -6.013654019199066e-16 1.197939497389039e-07"/>
     <parent link="r_ankle_1"/>
     <child link="r_ankle_2"/>
     <limit effort="37.0" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="7.64"/>
@@ -1545,12 +1545,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.039779742643594365 0.004553699994905444 -0.006311816589999797" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
+      <origin xyz="0.039779742643594365 0.004553699994905444 -0.006311816589999797" rpy="-1.832595507822573 0 -1.5707963267948983"/>
       <mass value="0.357881"/>
       <inertia ixx="0.00109611" ixy="-2.9193e-07" ixz="-3.70109e-05" iyy="0.00125706" iyz="5.10952e-06" izz="0.000215359"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
+      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.832595507822573 0 -1.5707963267948983"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1559,14 +1559,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
+      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.832595507822573 0 -1.5707963267948983"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.0034999280659716026 0 -0.060500343280208146" rpy="3.141592652417863 0 0"/>
+    <origin xyz="-0.0034999280659716164 0 -0.060500343280208146" rpy="3.141592652417863 0 0"/>
     <parent link="r_ankle_2"/>
     <child link="r_foot"/>
     <dynamics damping="0.1"/>
@@ -1580,12 +1580,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1594,7 +1594,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1610,12 +1610,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0015761999999999929 -1.940000000000275e-05 -0.04405299999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0015761999999999998 -1.939999999998887e-05 -0.04405299999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.421106"/>
       <inertia ixx="0.000494284" ixy="1.5483e-07" ixz="-1.86308e-07" iyy="0.000288736" iyz="1.52962e-05" izz="0.000319008"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1624,14 +1624,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
+    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1640,12 +1640,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.00012299999999999117 -0.0002823000000000131 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.0001229999999999981 -0.000282300000000027 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="3.27938e-05" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="5.69957e-05" iyz="3.32338e-08" izz="3.26449e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.043708999809320984 0.07010000000001014 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370899980932098 0.07010000000001013 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1654,26 +1654,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.043708999809320984 0.07010000000001014 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370899980932098 0.07010000000001013 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008574999999999972 0 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008575000000000041 0 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868000000000092 0.00010179999999999911 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868000000000023 0.00010179999999999911 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.043708999809320984 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980932098 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1682,7 +1682,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.043708999809320984 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980932098 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1698,7 +1698,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.051256699999999975 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.05125669999999998 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1712,12 +1712,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.000999700000000013 0.0034968999999999834 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0009997000000000061 0.0034968999999999834 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370899980931699 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980931698 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1726,7 +1726,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370899980931699 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980931698 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1742,12 +1742,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015152971856010347 0.0009021000000000029 4.2316556559285345e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.015152971856010333 0.0009021000000000029 4.2316556559285345e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447618553062084" ixy="-8.97867775831874e-06" ixz="2.9134846047326194e-05" iyy="0.00043720150287133953" iyz="3.730206268073148e-05" izz="0.00031828795462876227"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272424516862 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424516864 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1756,7 +1756,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272424516862 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424516864 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1772,12 +1772,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011452157753235465 -8.299999999974994e-06 -0.038511854107377674" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.0011452157753235326 -8.299999999974994e-06 -0.038511854107377674" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.265337"/>
       <inertia ixx="0.000327646" ixy="-7.94989e-08" ixz="8.24551e-09" iyy="0.000244632" iyz="2.0701e-05" izz="0.000155777"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272442313177 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442313178 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1786,7 +1786,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272442313177 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442313178 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1794,7 +1794,7 @@
   </link>
   <joint name="l_ankle_roll" type="revolute">
     <origin xyz="0 0 0" rpy="0 0 0"/>
-    <axis xyz="1.0000001561184808 6.013654019199066e-16 -1.1979394973216095e-07"/>
+    <axis xyz="1.0000001561184808 6.013654019199066e-16 -1.197939497389039e-07"/>
     <parent link="l_ankle_1"/>
     <child link="l_ankle_2"/>
     <limit effort="37.0" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="7.64"/>
@@ -1823,7 +1823,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.0034999280659716026 0 -0.060500343280208146" rpy="-3.141592643239301 0 0"/>
+    <origin xyz="-0.0034999280659716164 0 -0.060500343280208146" rpy="-3.141592643239301 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2315,13 +2315,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2363,13 +2363,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2411,13 +2411,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2435,13 +2435,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2471,13 +2471,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2495,13 +2495,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2519,13 +2519,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -2661,24 +2661,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351373 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04351373 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351373 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351373 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.044503292 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.044503292 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503292 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.044503292 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -2696,13 +2696,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0537517 0.01572289999999999 -0.0043179999999999885 -1.5707962918765586 -1.5706802104434696 -1.2217307215014315</pose>
+      <pose>0.0537517 0.01572289999999999 -0.0043179999999999885 -1.5707962918786202 -1.5706802104434698 -1.221730721500941</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707962918765586 -1.5706802104434696 -1.2217307215014315" xyz="0.0537517 0.01572289999999999 -0.0043179999999999885"/>
+    <origin rpy="-1.5707962918786202 -1.5706802104434698 -1.221730721500941" xyz="0.0537517 0.01572289999999999 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b10" type="imu">
@@ -2720,238 +2720,238 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.01648010000000001 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
+      <pose>0.01648010000000001 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.01648010000000001 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.01648010000000001 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.11154352975660221 -0.00081220000825033 -0.022848096181402044 -0.2617991810276566 7.344347213722464e-08 -1.5707960526999072</pose>
+      <pose>0.11154352975660221 -0.00081220000825033 -0.022848096181402044 -0.26179918102765654 7.344347216498023e-08 -1.570796052699907</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b12" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="-0.2617991810276566 7.344347213722464e-08 -1.5707960526999072" xyz="0.11154352975660221 -0.00081220000825033 -0.022848096181402044"/>
+    <origin rpy="-0.26179918102765654 7.344347216498023e-08 -1.570796052699907" xyz="0.11154352975660221 -0.00081220000825033 -0.022848096181402044"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.08739538274799673 -0.011812200008250326 -0.016377625097255266 -0.26179918102766675 1.5543122344752188e-15 -1.5707963267948986</pose>
+      <pose>0.08739538274799673 -0.011812200008250326 -0.016377625097255266 -0.26179918102766664 1.6098233857064772e-15 -1.5707963267948981</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="-0.26179918102766675 1.5543122344752188e-15 -1.5707963267948986" xyz="0.08739538274799673 -0.011812200008250326 -0.016377625097255266"/>
+    <origin rpy="-0.26179918102766664 1.6098233857064772e-15 -1.5707963267948981" xyz="0.08739538274799673 -0.011812200008250326 -0.016377625097255266"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012577099999999994 -0.040407200000000004 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.0125771 -0.040407200000000004 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577099999999994 -0.040407200000000004 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.0125771 -0.040407200000000004 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012575099999999985 0.040407 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012575099999999992 0.040407 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575099999999985 0.040407 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575099999999992 0.040407 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013080999999999995 -0.040407200000000004 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.013081000000000002 -0.040407200000000004 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013080999999999995 -0.040407200000000004 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000002 -0.040407200000000004 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.01307899999999998 0.040407 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.013078999999999986 0.040407 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.01307899999999998 0.040407 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999986 0.040407 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.042001630000000005 0.03156500000000001 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
+      <pose>0.04200163 0.03156500000000001 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.042001630000000005 0.03156500000000001 0.04913199999999998"/>
+    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.04200163 0.03156500000000001 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352109 0.007765700000000028 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352108999999999 0.007765700000000028 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352109 0.007765700000000028 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352108999999999 0.007765700000000028 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053785 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053785 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999999 -0.014429399999999995 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053784999999999986 -0.014429399999999995 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 -0.014429399999999995 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429399999999995 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.03412948999999999 -0.041499899999999985 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.034129489999999985 -0.041499899999999985 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412948999999999 -0.041499899999999985 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.034129489999999985 -0.041499899999999985 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378499999999998 0.01781110000000001 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.043784999999999984 0.01781110000000001 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999998 0.01781110000000001 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043784999999999984 0.01781110000000001 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378499999999999 -0.014191799999999997 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.043785 -0.014191799999999997 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378499999999999 -0.014191799999999997 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785 -0.014191799999999997 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351373 0.011314599999999966 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.043513729999999994 0.011314599999999966 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351373 0.011314599999999966 -0.09276499999999999"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.043513729999999994 0.011314599999999966 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.044503292 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04450329199999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503292 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450329199999999 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05313347 0.017184100000000008 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.053133469999999995 0.017184100000000008 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313347 0.017184100000000008 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133469999999995 0.017184100000000008 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.054451799999999995 -0.013799100000000002 -0.0043179999999999885 -1.5707963664504991 -1.5706802104435666 -1.919861927351539</pose>
+      <pose>0.05445179999999999 -0.013799100000000002 -0.0043179999999999885 -1.5707963664504991 -1.5706802104435666 -1.919861927351539</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b9" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707963664504991 -1.5706802104435666 -1.919861927351539" xyz="0.054451799999999995 -0.013799100000000002 -0.0043179999999999885"/>
+    <origin rpy="-1.5707963664504991 -1.5706802104435666 -1.919861927351539" xyz="0.05445179999999999 -0.013799100000000002 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.02591510000000001 0.042743999999999976 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
+      <pose>0.025915100000000003 0.042743999999999976 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.02591510000000001 0.042743999999999976 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915100000000003 0.042743999999999976 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999994 -0.04171870000000001 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
+      <pose>0.018459299999999988 -0.04171870000000001 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999994 -0.04171870000000001 -0.09295800000000004"/>
+    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999988 -0.04171870000000001 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
diff --git a/iCub/robots/iCubGenova04/model.urdf b/iCub/robots/iCubGenova04/model.urdf
index bcb3414..de1a7ce 100644
--- a/iCub/robots/iCubGenova04/model.urdf
+++ b/iCub/robots/iCubGenova04/model.urdf
@@ -23,12 +23,12 @@
   </link>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -37,7 +37,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -199,7 +199,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
+    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -213,7 +213,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
+    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -241,7 +241,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
+    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -269,21 +269,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
+    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
+    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
+    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -318,14 +318,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
+    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
+    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -339,21 +339,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
+    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
+    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
+    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -374,14 +374,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
+    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
+    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -402,7 +402,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
+    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -416,7 +416,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
+    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -511,12 +511,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.03360009999999998 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.033600099999999994 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.382866"/>
       <inertia ixx="0.00120946" ixy="3.74585e-07" ixz="-5.78759e-05" iyy="0.00141439" iyz="-7.80325e-06" izz="0.000273599"/>
     </inertial>
     <visual>
-      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -525,7 +525,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -539,14 +539,14 @@
   </joint>
   <link name="r_sole"/>
   <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.003499999999999996 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
+    <origin xyz="0.003500000000000003 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_0"/>
   <joint name="r_sole_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.06047669999999999 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.060476699999999994 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_0"/>
     <dynamics damping="0.1"/>
@@ -560,14 +560,14 @@
   </joint>
   <link name="r_sole_skin_2"/>
   <joint name="r_sole_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.09320869999999998 -0.032368 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.09320869999999999 -0.032368 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_3"/>
   <joint name="r_sole_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.11158309999999996 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.11158309999999998 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_3"/>
     <dynamics damping="0.1"/>
@@ -609,112 +609,112 @@
   </joint>
   <link name="r_sole_skin_12"/>
   <joint name="r_sole_skin_12_fixed_joint" type="fixed">
-    <origin xyz="0.08286799999999997 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.08286799999999998 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_12"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_13"/>
   <joint name="r_sole_skin_13_fixed_joint" type="fixed">
-    <origin xyz="0.10124239999999997 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.10124239999999998 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_13"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_14"/>
   <joint name="r_sole_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05013603999999998 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.050136039999999986 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_14"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_15"/>
   <joint name="r_sole_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.046119189999999984 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.04611918999999999 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_17"/>
   <joint name="r_sole_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.029685499999999997 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.02968549999999999 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_18"/>
   <joint name="r_sole_skin_18_fixed_joint" type="fixed">
-    <origin xyz="-0.04805990000000001 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.0480599 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_18"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_19"/>
   <joint name="r_sole_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.05207670000000001 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.052076700000000004 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_20"/>
   <joint name="r_sole_skin_20_fixed_joint" type="fixed">
-    <origin xyz="-0.037719200000000015 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.03771920000000001 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_21"/>
   <joint name="r_sole_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.03577849999999998 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.03577849999999999 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_21"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_22"/>
   <joint name="r_sole_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.02774479999999999 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.027744799999999997 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_22"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_24"/>
   <joint name="r_sole_skin_24_fixed_joint" type="fixed">
-    <origin xyz="-0.004987200000000004 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.004987199999999997 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_24"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_25"/>
   <joint name="r_sole_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.013387199999999995 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.013387200000000002 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_25"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_26"/>
   <joint name="r_sole_skin_26_fixed_joint" type="fixed">
-    <origin xyz="0.017404099999999985 0.0133722 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.017404099999999992 0.0133722 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_26"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_27"/>
   <joint name="r_sole_skin_27_fixed_joint" type="fixed">
-    <origin xyz="0.0030464999999999798 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.0030464999999999867 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_27"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_28"/>
   <joint name="r_sole_skin_28_fixed_joint" type="fixed">
-    <origin xyz="-0.015327899999999998 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.015327899999999992 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_28"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_29"/>
   <joint name="r_sole_skin_29_fixed_joint" type="fixed">
-    <origin xyz="-0.019344800000000002 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.019344799999999995 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_29"/>
     <dynamics damping="0.1"/>
@@ -938,12 +938,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
+      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000158626" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.000206526" iyz="1.19785e-06" izz="0.000104956"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -952,15 +952,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
-    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
+    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -989,7 +989,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
+    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -1026,12 +1026,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13344e-05" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="5.86947e-05" iyz="3.92498e-06" izz="9.68353e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1040,7 +1040,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1056,7 +1056,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -1077,7 +1077,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -1086,35 +1086,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1135,14 +1135,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -1170,7 +1170,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -1191,35 +1191,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1254,19 +1254,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="5.57722e-06" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="5.29845e-06" iyz="-1.59685e-07" izz="1.87724e-06"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1275,14 +1275,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -1312,7 +1312,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -1358,12 +1358,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
+      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000159621" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.000222574" iyz="1.20112e-06" izz="0.000120056"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1372,15 +1372,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
-    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
+    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -1409,7 +1409,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
+    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -1446,7 +1446,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13352e-05" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="5.86823e-05" iyz="3.9319e-06" izz="9.68469e-05"/>
     </inertial>
@@ -1476,7 +1476,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -1497,7 +1497,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -1506,35 +1506,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1555,7 +1555,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -1576,7 +1576,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -1611,35 +1611,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1653,7 +1653,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1674,19 +1674,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="5.56774e-06" ixy="3.08362e-08" ixz="9.42153e-07" iyy="5.28838e-06" iyz="-1.58924e-07" izz="1.87579e-06"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1695,14 +1695,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1732,7 +1732,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1748,12 +1748,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1762,7 +1762,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1778,12 +1778,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0011062999999999906 1.7299999999997873e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0011062999999999976 1.730000000001175e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.415987"/>
       <inertia ixx="0.000475741" ixy="2.89355e-07" ixz="-6.72876e-08" iyy="0.000279828" iyz="6.7417e-06" izz="0.000307828"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1792,14 +1792,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
+    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1808,12 +1808,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.00012289999999999524 -0.00028229999999998534 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012290000000000217 -0.0002822999999999992 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="3.27938e-05" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="5.69957e-05" iyz="3.32338e-08" izz="3.26449e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1822,26 +1822,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008301999999999893 7.519999999998361e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008301999999999962 7.519999999999749e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868999999999982 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868999999999913 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1850,7 +1850,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1866,7 +1866,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.05125669999999999 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.051256699999999995 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1880,12 +1880,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.000999800000000002 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0009997999999999951 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1894,7 +1894,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1910,12 +1910,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015153099999999996 0.000902 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.015153099999999989 0.0009020000000000139 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447429734460005" ixy="-1.1322603878053663e-06" ixz="3.046651057758992e-05" iyy="0.0004478873540695352" iyz="2.5726583414130826e-06" izz="0.0003076030453774591"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1924,7 +1924,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1940,12 +1940,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011447000000000054 3.5999999999786203e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0011446999999999985 3.599999999992498e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.265122"/>
       <inertia ixx="0.000327222" ixy="-4.74606e-08" ixz="4.94571e-08" iyy="0.000248285" iyz="-4.29975e-06" izz="0.000150937"/>
     </inertial>
     <visual>
-      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1954,7 +1954,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1991,7 +1991,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.003499999999999996 0 -0.0605" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.003500000000000003 0 -0.0605" rpy="3.141592653589793 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2658,13 +2658,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2706,13 +2706,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2754,13 +2754,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2778,13 +2778,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2814,13 +2814,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2838,13 +2838,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2862,13 +2862,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -3004,24 +3004,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -3063,13 +3063,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
+      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
@@ -3087,178 +3087,178 @@
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07847939999999998 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
+      <pose>0.07847939999999999 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999998 -0.011812200000000009 -0.001214999999999966"/>
+    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999999 -0.011812200000000009 -0.001214999999999966"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012577000000000005 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.012577000000000012 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000005 -0.04040720000000002 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000012 -0.04040720000000002 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012574999999999996 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012575000000000003 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012574999999999996 0.04040679999999998 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575000000000003 0.04040679999999998 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.01308100000000001 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.013081000000000016 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.01308100000000001 -0.04040720000000002 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000016 -0.04040720000000002 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013078999999999993 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.013079 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999993 0.04040679999999998 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013079 0.04040679999999998 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04200169 0.03156479999999999 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
+      <pose>0.042001689999999994 0.03156479999999999 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.04200169 0.03156479999999999 0.04913199999999998"/>
+    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.042001689999999994 0.03156479999999999 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352114999999999 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352114999999998 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999999 0.007765700000000014 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999998 0.007765700000000014 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053784999999999986 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999998 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429400000000002 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999998 -0.014429400000000002 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.03412954999999999 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412954999999998 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999999 -0.0414999 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999998 -0.0414999 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378499999999999 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.043785 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999999 0.017810999999999994 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043785 0.017810999999999994 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785000000000004 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.04378500000000001 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785000000000004 -0.014191800000000011 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378500000000001 -0.014191800000000011 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.043513791999999996 0.011314499999999963 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04351379199999999 0.011314499999999963 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.043513791999999996 0.011314499999999963 -0.09276499999999999"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351379199999999 0.011314499999999963 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.044503353999999995 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04450335399999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503353999999995 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450335399999999 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05313352999999999 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.053133529999999984 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313352999999999 0.017184099999999994 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133529999999984 0.017184099999999994 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
@@ -3276,25 +3276,25 @@
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915200000000003 0.04274479999999997 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
+      <pose>0.025915199999999996 0.04274479999999997 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.025915200000000003 0.04274479999999997 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915199999999996 0.04274479999999997 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999984 -0.041718700000000025 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
+      <pose>0.018459299999999977 -0.041718700000000025 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999984 -0.041718700000000025 -0.09295800000000004"/>
+    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999977 -0.041718700000000025 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
@@ -3368,45 +3368,45 @@
     <sensor name="l_upper_leg_ft_acc_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_acc_3b12" type="accelerometer">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_hip_2">
     <sensor name="l_upper_leg_ft_gyro_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_gyro_3b12" type="gyroscope">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_acc_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_acc_3b13" type="accelerometer">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_gyro_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_gyro_3b13" type="gyroscope">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
   </sensor>
   <gazebo>
     <pose>0.0 0.0 0.63 0.0 0.0 3.14</pose>
diff --git a/iCub/robots/iCubGenova04_plus/model.urdf b/iCub/robots/iCubGenova04_plus/model.urdf
index 612b79d..188d3d3 100644
--- a/iCub/robots/iCubGenova04_plus/model.urdf
+++ b/iCub/robots/iCubGenova04_plus/model.urdf
@@ -247,12 +247,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
+      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000158626" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.000206526" iyz="1.19785e-06" izz="0.000104956"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -261,15 +261,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
-    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
+    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -298,7 +298,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
+    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -335,12 +335,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13344e-05" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="5.86947e-05" iyz="3.92498e-06" izz="9.68353e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -349,7 +349,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -365,7 +365,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -386,7 +386,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -395,35 +395,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -444,14 +444,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -479,7 +479,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -500,35 +500,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -542,7 +542,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -563,19 +563,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="5.57722e-06" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="5.29845e-06" iyz="-1.59685e-07" izz="1.87724e-06"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -584,14 +584,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -621,7 +621,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -667,12 +667,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
+      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000159621" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.000222574" iyz="1.20112e-06" izz="0.000120056"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -681,15 +681,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
-    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
+    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -718,7 +718,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
+    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -755,7 +755,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13352e-05" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="5.86823e-05" iyz="3.9319e-06" izz="9.68469e-05"/>
     </inertial>
@@ -785,7 +785,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -806,7 +806,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -815,35 +815,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -864,7 +864,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -885,7 +885,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -920,35 +920,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -962,7 +962,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -983,19 +983,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="5.56774e-06" ixy="3.08362e-08" ixz="9.42153e-07" iyy="5.28838e-06" iyz="-1.58924e-07" izz="1.87579e-06"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1004,14 +1004,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1041,7 +1041,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1057,12 +1057,12 @@
   </joint>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1071,7 +1071,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.058310299999999995 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
+    <origin xyz="0.058310299999999995 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1247,7 +1247,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208552 0.03044339999999998 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
+    <origin xyz="0.05208552 0.03044339999999998 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -1275,7 +1275,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999999 -0.03117600000000001 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
+    <origin xyz="0.05504769999999999 -0.03117600000000001 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -1303,21 +1303,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.035753400000000005 0.04106279999999999 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
+    <origin xyz="0.035753400000000005 0.04106279999999999 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.023441900000000012 0.04799079999999998 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
+    <origin xyz="0.023441900000000012 0.04799079999999998 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.02427040000000001 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
+    <origin xyz="0.02427040000000001 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -1352,14 +1352,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.047748659999999984 -0.031231999999999996 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
+    <origin xyz="0.047748659999999984 -0.031231999999999996 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322408999999999 -0.01560180000000004 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
+    <origin xyz="0.05322408999999999 -0.01560180000000004 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -1373,21 +1373,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880466999999999 -0.031263 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
+    <origin xyz="0.04880466999999999 -0.031263 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999999 -0.01591290000000002 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
+    <origin xyz="0.05660089999999999 -0.01591290000000002 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.057010599999999995 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
+    <origin xyz="0.057010599999999995 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -1408,14 +1408,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641629999999995 0.01763889999999997 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
+    <origin xyz="0.052641629999999995 0.01763889999999997 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113137 0.032438499999999953 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
+    <origin xyz="0.04113137 0.032438499999999953 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -1436,7 +1436,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998319999999995 0.0012663999999999592 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
+    <origin xyz="0.052998319999999995 0.0012663999999999592 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -1450,7 +1450,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127079999999986 -0.030749000000000026 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
+    <origin xyz="0.045127079999999986 -0.030749000000000026 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -1485,12 +1485,12 @@
   </joint>
   <link name="r_ankle_1">
     <inertial>
-      <origin xyz="0.015143405473968821 -0.0008685000000000082 4.2859082720503316e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.015143405473968807 -0.0008685000000000082 4.2859082720503316e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.6803"/>
       <inertia ixx="0.0004046207392315529" ixy="8.523488844593136e-06" ixz="-2.8913590319053794e-05" iyy="0.0004379396781535379" iyz="3.7330395179426065e-05" izz="0.00031892819418424145"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272424511754 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424511755 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1499,7 +1499,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272424511754 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424511755 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1515,12 +1515,12 @@
   </joint>
   <link name="r_ankle_2">
     <inertial>
-      <origin xyz="0.0011452157753235187 -8.299999999988872e-06 -0.038511854107377785" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.0011452157753235048 -8.299999999988872e-06 -0.038511854107377785" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.265337"/>
       <inertia ixx="0.000327646" ixy="-7.94989e-08" ixz="8.24551e-09" iyy="0.000244632" iyz="2.0701e-05" izz="0.000155777"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272442308744 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442308745 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1529,7 +1529,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272442308744 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442308745 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1537,7 +1537,7 @@
   </link>
   <joint name="r_ankle_roll" type="revolute">
     <origin xyz="0 0 0" rpy="0 0 0"/>
-    <axis xyz="-1.0000001561184808 -6.013654019199066e-16 1.1979394973216095e-07"/>
+    <axis xyz="-1.0000001561184808 -6.013654019199066e-16 1.197939497389039e-07"/>
     <parent link="r_ankle_1"/>
     <child link="r_ankle_2"/>
     <limit effort="37.0" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="7.64"/>
@@ -1545,12 +1545,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.039779742643594365 0.004553699994905444 -0.006311816589999797" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
+      <origin xyz="0.039779742643594365 0.004553699994905444 -0.006311816589999797" rpy="-1.832595507822573 0 -1.5707963267948983"/>
       <mass value="0.357881"/>
       <inertia ixx="0.00109611" ixy="-2.9193e-07" ixz="-3.70109e-05" iyy="0.00125706" iyz="5.10952e-06" izz="0.000215359"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
+      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.832595507822573 0 -1.5707963267948983"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1559,14 +1559,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
+      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.832595507822573 0 -1.5707963267948983"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.0034999280659716026 0 -0.060500343280208146" rpy="3.141592652417863 0 0"/>
+    <origin xyz="-0.0034999280659716164 0 -0.060500343280208146" rpy="3.141592652417863 0 0"/>
     <parent link="r_ankle_2"/>
     <child link="r_foot"/>
     <dynamics damping="0.1"/>
@@ -1580,12 +1580,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1594,7 +1594,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1610,12 +1610,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0015761999999999929 -1.940000000000275e-05 -0.04405299999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0015761999999999998 -1.939999999998887e-05 -0.04405299999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.421106"/>
       <inertia ixx="0.000494284" ixy="1.5483e-07" ixz="-1.86308e-07" iyy="0.000288736" iyz="1.52962e-05" izz="0.000319008"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1624,14 +1624,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
+    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1640,12 +1640,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.00012299999999999117 -0.0002823000000000131 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.0001229999999999981 -0.000282300000000027 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="3.27938e-05" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="5.69957e-05" iyz="3.32338e-08" izz="3.26449e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.043708999809320984 0.07010000000001014 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370899980932098 0.07010000000001013 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1654,26 +1654,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.043708999809320984 0.07010000000001014 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370899980932098 0.07010000000001013 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008574999999999972 0 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008575000000000041 0 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868000000000092 0.00010179999999999911 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868000000000023 0.00010179999999999911 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.043708999809320984 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980932098 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1682,7 +1682,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.043708999809320984 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980932098 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1698,7 +1698,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.051256699999999975 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.05125669999999998 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1712,12 +1712,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.000999700000000013 0.0034968999999999834 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0009997000000000061 0.0034968999999999834 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370899980931699 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980931698 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1726,7 +1726,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370899980931699 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980931698 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1742,12 +1742,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015152971856010347 0.0009021000000000029 4.2316556559285345e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.015152971856010333 0.0009021000000000029 4.2316556559285345e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447618553062084" ixy="-8.97867775831874e-06" ixz="2.9134846047326194e-05" iyy="0.00043720150287133953" iyz="3.730206268073148e-05" izz="0.00031828795462876227"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272424516862 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424516864 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1756,7 +1756,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272424516862 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424516864 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1772,12 +1772,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011452157753235465 -8.299999999974994e-06 -0.038511854107377674" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.0011452157753235326 -8.299999999974994e-06 -0.038511854107377674" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.265337"/>
       <inertia ixx="0.000327646" ixy="-7.94989e-08" ixz="8.24551e-09" iyy="0.000244632" iyz="2.0701e-05" izz="0.000155777"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272442313177 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442313178 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1786,7 +1786,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272442313177 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442313178 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1794,7 +1794,7 @@
   </link>
   <joint name="l_ankle_roll" type="revolute">
     <origin xyz="0 0 0" rpy="0 0 0"/>
-    <axis xyz="1.0000001561184808 6.013654019199066e-16 -1.1979394973216095e-07"/>
+    <axis xyz="1.0000001561184808 6.013654019199066e-16 -1.197939497389039e-07"/>
     <parent link="l_ankle_1"/>
     <child link="l_ankle_2"/>
     <limit effort="37.0" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="7.64"/>
@@ -1823,7 +1823,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.0034999280659716026 0 -0.060500343280208146" rpy="-3.141592643239301 0 0"/>
+    <origin xyz="-0.0034999280659716164 0 -0.060500343280208146" rpy="-3.141592643239301 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2315,13 +2315,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2363,13 +2363,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2411,13 +2411,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2435,13 +2435,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2471,13 +2471,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2495,13 +2495,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2519,13 +2519,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -2661,24 +2661,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351373 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04351373 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351373 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351373 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.044503292 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.044503292 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503292 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.044503292 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -2696,13 +2696,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0537517 0.01572289999999999 -0.0043179999999999885 -1.5707962918765586 -1.5706802104434696 -1.2217307215014315</pose>
+      <pose>0.0537517 0.01572289999999999 -0.0043179999999999885 -1.5707962918786202 -1.5706802104434698 -1.221730721500941</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707962918765586 -1.5706802104434696 -1.2217307215014315" xyz="0.0537517 0.01572289999999999 -0.0043179999999999885"/>
+    <origin rpy="-1.5707962918786202 -1.5706802104434698 -1.221730721500941" xyz="0.0537517 0.01572289999999999 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b10" type="imu">
@@ -2720,238 +2720,238 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.01648010000000001 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
+      <pose>0.01648010000000001 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.01648010000000001 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.01648010000000001 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.11154352975660221 -0.00081220000825033 -0.022848096181402044 -0.2617991810276566 7.344347213722464e-08 -1.5707960526999072</pose>
+      <pose>0.11154352975660221 -0.00081220000825033 -0.022848096181402044 -0.26179918102765654 7.344347216498023e-08 -1.570796052699907</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b12" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="-0.2617991810276566 7.344347213722464e-08 -1.5707960526999072" xyz="0.11154352975660221 -0.00081220000825033 -0.022848096181402044"/>
+    <origin rpy="-0.26179918102765654 7.344347216498023e-08 -1.570796052699907" xyz="0.11154352975660221 -0.00081220000825033 -0.022848096181402044"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.08739538274799673 -0.011812200008250326 -0.016377625097255266 -0.26179918102766675 1.5543122344752188e-15 -1.5707963267948986</pose>
+      <pose>0.08739538274799673 -0.011812200008250326 -0.016377625097255266 -0.26179918102766664 1.6098233857064772e-15 -1.5707963267948981</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="-0.26179918102766675 1.5543122344752188e-15 -1.5707963267948986" xyz="0.08739538274799673 -0.011812200008250326 -0.016377625097255266"/>
+    <origin rpy="-0.26179918102766664 1.6098233857064772e-15 -1.5707963267948981" xyz="0.08739538274799673 -0.011812200008250326 -0.016377625097255266"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012577099999999994 -0.040407200000000004 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.0125771 -0.040407200000000004 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577099999999994 -0.040407200000000004 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.0125771 -0.040407200000000004 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012575099999999985 0.040407 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012575099999999992 0.040407 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575099999999985 0.040407 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575099999999992 0.040407 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013080999999999995 -0.040407200000000004 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.013081000000000002 -0.040407200000000004 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013080999999999995 -0.040407200000000004 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000002 -0.040407200000000004 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.01307899999999998 0.040407 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.013078999999999986 0.040407 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.01307899999999998 0.040407 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999986 0.040407 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.042001630000000005 0.03156500000000001 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
+      <pose>0.04200163 0.03156500000000001 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.042001630000000005 0.03156500000000001 0.04913199999999998"/>
+    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.04200163 0.03156500000000001 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352109 0.007765700000000028 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352108999999999 0.007765700000000028 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352109 0.007765700000000028 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352108999999999 0.007765700000000028 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053785 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053785 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999999 -0.014429399999999995 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053784999999999986 -0.014429399999999995 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 -0.014429399999999995 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429399999999995 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.03412948999999999 -0.041499899999999985 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.034129489999999985 -0.041499899999999985 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412948999999999 -0.041499899999999985 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.034129489999999985 -0.041499899999999985 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378499999999998 0.01781110000000001 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.043784999999999984 0.01781110000000001 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999998 0.01781110000000001 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043784999999999984 0.01781110000000001 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378499999999999 -0.014191799999999997 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.043785 -0.014191799999999997 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378499999999999 -0.014191799999999997 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785 -0.014191799999999997 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351373 0.011314599999999966 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.043513729999999994 0.011314599999999966 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351373 0.011314599999999966 -0.09276499999999999"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.043513729999999994 0.011314599999999966 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.044503292 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <pose>0.04450329199999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503292 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450329199999999 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05313347 0.017184100000000008 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.053133469999999995 0.017184100000000008 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313347 0.017184100000000008 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133469999999995 0.017184100000000008 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.054451799999999995 -0.013799100000000002 -0.0043179999999999885 -1.5707963664504991 -1.5706802104435666 -1.919861927351539</pose>
+      <pose>0.05445179999999999 -0.013799100000000002 -0.0043179999999999885 -1.5707963664504991 -1.5706802104435666 -1.919861927351539</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b9" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707963664504991 -1.5706802104435666 -1.919861927351539" xyz="0.054451799999999995 -0.013799100000000002 -0.0043179999999999885"/>
+    <origin rpy="-1.5707963664504991 -1.5706802104435666 -1.919861927351539" xyz="0.05445179999999999 -0.013799100000000002 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.02591510000000001 0.042743999999999976 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
+      <pose>0.025915100000000003 0.042743999999999976 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.02591510000000001 0.042743999999999976 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915100000000003 0.042743999999999976 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999994 -0.04171870000000001 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
+      <pose>0.018459299999999988 -0.04171870000000001 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999994 -0.04171870000000001 -0.09295800000000004"/>
+    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999988 -0.04171870000000001 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
diff --git a/iCub/robots/iCubGenova09/model.urdf b/iCub/robots/iCubGenova09/model.urdf
index 61cda2d..ef0206b 100644
--- a/iCub/robots/iCubGenova09/model.urdf
+++ b/iCub/robots/iCubGenova09/model.urdf
@@ -21,398 +21,364 @@
       </geometry>
     </collision>
   </link>
-  <link name="l_hip_1">
+  <link name="torso_1">
     <inertial>
-      <origin xyz="-0.001970200000000002 0.0311194 -0.00043199999999998795" rpy="0 0 -1.5707963267948966"/>
-      <mass value="2.48546"/>
-      <inertia ixx="0.00285629" ixy="-2.13955e-05" ixz="3.35338e-06" iyy="0.00230094" iyz="1.79278e-05" izz="0.00246343"/>
+      <origin xyz="-0.00752632 0.000684313 0.05308400000000002" rpy="0 0 -1.5707963267948966"/>
+      <mass value="1.81255"/>
+      <inertia ixx="0.00354354" ixy="5.48743e-06" ixz="8.16841e-06" iyy="0.00272482" iyz="-0.000326014" izz="0.00215923"/>
     </inertial>
     <visual>
-      <origin xyz="-0.02159999999999998 -0.040449999999999674 0.3138580000000002" rpy="0 0 -1.5707963267948966"/>
+      <origin xyz="0 0 0.25335800000000014" rpy="0 0 -1.5707963267948966"/>
       <geometry>
-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_hip_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_torso_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="black">
         <color rgba="0 0 0 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.02159999999999998 -0.040449999999999674 0.3138580000000002" rpy="0 0 -1.5707963267948966"/>
+      <origin xyz="0 0 0.25335800000000014" rpy="0 0 -1.5707963267948966"/>
       <geometry>
-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_hip_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_torso_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="l_hip_pitch" type="revolute">
-    <origin xyz="0.0216 0.04045000000000001 0" rpy="0 0 0"/>
-    <axis xyz="0.0 -1.0 0.0"/>
+  <joint name="torso_roll" type="revolute">
+    <origin xyz="0 0 0.0605" rpy="0 0 0"/>
+    <axis xyz="-1.0 0.0 0.0"/>
     <parent link="root_link"/>
-    <child link="l_hip_1"/>
-    <limit effort="50000" lower="-0.7853981633974483" upper="2.007128639793479" velocity="120.0"/>
+    <child link="torso_1"/>
+    <limit effort="50000" lower="-0.4014257279586958" upper="0.4014257279586958" velocity="120.0"/>
     <dynamics damping="0.06" friction="0.0"/>
   </joint>
-  <link name="l_hip_2">
+  <link name="torso_2">
     <inertial>
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+      <origin xyz="0 0 0.18085800000000013" rpy="0 0 -1.5707963267948966"/>
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-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_hip_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_torso_2_prt.stl" scale="0.001 0.001 0.001"/>
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       <material name="red">
         <color rgba="1 0 0 1"/>
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     <collision>
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+      <origin xyz="0 0 0.18085800000000013" rpy="0 0 -1.5707963267948966"/>
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-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_hip_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_torso_2_prt.stl" scale="0.001 0.001 0.001"/>
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-    <child link="l_hip_2"/>
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+  <joint name="torso_pitch" type="revolute">
+    <origin xyz="0 0 0.07250000000000001" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <parent link="torso_1"/>
+    <child link="torso_2"/>
+    <limit effort="50000" lower="-0.3141592653589793" upper="0.7853981633974483" velocity="120.0"/>
     <dynamics damping="0.06" friction="0.0"/>
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-  <link name="l_hip_3">
+  <link name="chest">
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-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_hip_3_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_chest_prt.stl" scale="0.001 0.001 0.001"/>
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       <material name="blue">
         <color rgba="0 0 1 1"/>
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     <collision>
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+      <origin xyz="0 0 0.11638800000000013" rpy="0 0 -1.5707963267948966"/>
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-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_hip_3_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_chest_prt.stl" scale="0.001 0.001 0.001"/>
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-  <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="0.036699999999999997 0 -0.08969999999999995" rpy="0 0 0"/>
-    <parent link="l_hip_2"/>
-    <child link="l_hip_3"/>
+  <joint name="torso_yaw" type="revolute">
+    <origin xyz="0 0 0.06447000000000001" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <parent link="torso_2"/>
+    <child link="chest"/>
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+    <dynamics damping="0.06" friction="0.0"/>
+  </joint>
+  <link name="chest_rgb_frame"/>
+  <joint name="chest_rgb_frame_fixed_joint" type="fixed">
+    <origin xyz="0.0894115 -0.0115 0.09929950000000001" rpy="-1.5707963267948968 0 -1.5707963267948968"/>
+    <parent link="chest"/>
+    <child link="chest_rgb_frame"/>
     <dynamics damping="0.1"/>
   </joint>
-  <link name="l_upper_leg">
+  <link name="chest_depth_frame"/>
+  <joint name="chest_depth_frame_fixed_joint" type="fixed">
+    <origin xyz="0.0894115 0.0175 0.09929950000000001" rpy="-1.5707963267948968 0 -1.5707963267948968"/>
+    <parent link="chest"/>
+    <child link="chest_depth_frame"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_shoulder_1">
     <inertial>
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     <visual>
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       <geometry>
-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_upper_leg_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_1_prt.stl" scale="0.001 0.001 0.001"/>
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       <material name="yellow">
         <color rgba="1 1 0 1"/>
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-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_upper_leg_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_1_prt.stl" scale="0.001 0.001 0.001"/>
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-    <child link="l_upper_leg"/>
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+  <joint name="r_shoulder_pitch" type="revolute">
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+    <parent link="chest"/>
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     <dynamics damping="0.06" friction="0.0"/>
   </joint>
-  <link name="l_lower_leg">
+  <link name="r_shoulder_2">
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+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
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       <material name="pink">
         <color rgba="1 0 1 1"/>
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-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_lower_leg_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
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-    <child link="l_lower_leg"/>
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+  <joint name="r_shoulder_roll" type="revolute">
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+    <parent link="r_shoulder_1"/>
+    <child link="r_shoulder_2"/>
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     <dynamics damping="0.06" friction="0.0"/>
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-  <link name="l_ankle_1">
+  <link name="r_shoulder_3">
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+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
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       <material name="cyan">
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+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
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-    <dynamics damping="0.06" friction="0.0"/>
+  <joint name="r_arm_ft_sensor" type="fixed">
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+    <parent link="r_shoulder_2"/>
+    <child link="r_shoulder_3"/>
+    <dynamics damping="0.1"/>
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-  <link name="l_ankle_2">
+  <link name="r_upper_arm">
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+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
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       <material name="green">
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+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
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-    <child link="l_ankle_2"/>
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+  <joint name="r_shoulder_yaw" type="revolute">
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+    <axis xyz="-3.787621790776764e-08 2.805197706023475e-08 1.0000002566182309"/>
+    <parent link="r_shoulder_3"/>
+    <child link="r_upper_arm"/>
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     <dynamics damping="0.06" friction="0.0"/>
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-  <link name="l_foot_rear">
+  <link name="r_elbow_1">
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+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_elbow_1_prt.stl" scale="0.001 0.001 0.001"/>
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+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_elbow_1_prt.stl" scale="0.001 0.001 0.001"/>
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-  <joint name="l_foot_rear_ft_sensor" type="fixed">
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-    <parent link="l_ankle_2"/>
-    <child link="l_foot_rear"/>
-    <dynamics damping="0.1"/>
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-  <link name="l_sole"/>
-  <joint name="l_sole_fixed_joint" type="fixed">
-    <origin xyz="0.05963 0 0" rpy="0 0 0"/>
-    <parent link="l_foot_rear"/>
-    <child link="l_sole"/>
-    <dynamics damping="0.1"/>
+  <joint name="r_elbow" type="revolute">
+    <origin xyz="0.00999993192260382 0.0014996401320274133 -0.1237003374895465" rpy="0 0 0"/>
+    <axis xyz="2.4949582807394525e-07 -1.0000002733514362 2.7942487010105877e-08"/>
+    <parent link="r_upper_arm"/>
+    <child link="r_elbow_1"/>
+    <limit effort="50000" lower="-0.05235987755982989" upper="1.3089969389957472" velocity="120.0"/>
+    <dynamics damping="0.06" friction="0.0"/>
   </joint>
-  <link name="l_foot_front">
+  <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.00024399999999999422 9.139999999999149e-05 0.003298999999999941" rpy="0 0 -1.5707963267948966"/>
-      <mass value="0.18507432"/>
-      <inertia ixx="0.0001970128916313828" ixy="1.961043136408919e-07" ixz="-1.257396266615097e-07" iyy="0.00014522522442043378" iyz="-1.3329560051827644e-07" izz="0.0003407806587856971"/>
+      <origin xyz="-0.005853260593877814 -3.2973527508139977e-06 -0.03040488207175987" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <mass value="0.903262"/>
+      <inertia ixx="0.00130068" ixy="1.19026e-06" ixz="2.01573e-05" iyy="0.00125879" iyz="0.000118676" izz="0.000642975"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10854999999999994 -0.06475000000001191 0.9464469999999997" rpy="0 0 -1.5707963267948966"/>
+      <origin xyz="0.03574306309002756 0.14203108565259243 0.2485479739054379" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_foot_front_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_forearm_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="dblue">
         <color rgba="0 0 0.8 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10854999999999994 -0.06475000000001191 0.9464469999999997" rpy="0 0 -1.5707963267948966"/>
+      <origin xyz="0.03574306309002756 0.14203108565259243 0.2485479739054379" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_foot_front_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_forearm_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="l_foot_front_ft_sensor" type="fixed">
-    <origin xyz="0.13524999999999998 0 -0.06579999999999997" rpy="0 0 0"/>
-    <parent link="l_ankle_2"/>
-    <child link="l_foot_front"/>
-    <dynamics damping="0.1"/>
+  <joint name="r_wrist_prosup" type="revolute">
+    <origin xyz="-0.014999869468812953 -0.0019996499053189787 -0.05530006367251966" rpy="0 0 0"/>
+    <axis xyz="-3.787621790776764e-08 2.805197706023475e-08 1.0000002566182309"/>
+    <parent link="r_elbow_1"/>
+    <child link="r_forearm"/>
+    <limit effort="50000" lower="-1.53588974175501" upper="1.53588974175501" velocity="120.0"/>
+    <dynamics damping="0.06" friction="0.0"/>
   </joint>
-  <link name="torso_1">
+  <link name="r_wrist_1">
     <inertial>
-      <origin xyz="-0.00752632 0.000684313 0.05308400000000002" rpy="0 0 -1.5707963267948966"/>
-      <mass value="1.81255"/>
-      <inertia ixx="0.00354354" ixy="5.48743e-06" ixz="8.16841e-06" iyy="0.00272482" iyz="-0.000326014" izz="0.00215923"/>
+      <origin xyz="-0.014389827079018234 0.0005092753390521787 -9.78731576423697e-05" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <mass value="0.0344005"/>
+      <inertia ixx="5.11755e-06" ixy="9.19776e-07" ixz="1.47559e-08" iyy="1.60849e-06" iyz="-1.11493e-07" izz="5.58546e-06"/>
     </inertial>
     <visual>
-      <origin xyz="0 0 0.25335800000000014" rpy="0 0 -1.5707963267948966"/>
+      <origin xyz="0.019443109736078983 0.14403852854340418 0.3560480536175445" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_torso_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="dgreen">
         <color rgba="0.1 0.8 0.1 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0.25335800000000014" rpy="0 0 -1.5707963267948966"/>
+      <origin xyz="0.019443109736078983 0.14403852854340418 0.3560480536175445" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_torso_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="torso_roll" type="revolute">
-    <origin xyz="0 0 0.0605" rpy="0 0 0"/>
-    <axis xyz="-1.0 0.0 0.0"/>
-    <parent link="root_link"/>
-    <child link="torso_1"/>
-    <limit effort="50000" lower="-0.4014257279586958" upper="0.4014257279586958" velocity="120.0"/>
+  <joint name="r_wrist_pitch" type="revolute">
+    <origin xyz="0.016299953353948633 -0.002007442890811839 -0.10750007971210637" rpy="0 0 0"/>
+    <axis xyz="0.9999998262417886 -4.210501434612913e-08 -2.4630481182686846e-08"/>
+    <parent link="r_forearm"/>
+    <child link="r_wrist_1"/>
+    <limit effort="50000" lower="-1.2217304763960306" upper="0.4363323129985824" velocity="120.0"/>
     <dynamics damping="0.06" friction="0.0"/>
   </joint>
-  <link name="torso_2">
+  <link name="r_hand">
     <inertial>
-      <origin xyz="0.0006802240000000001 0.0015534 0.05118500000000001" rpy="0 0 -1.5707963267948966"/>
-      <mass value="1.45349"/>
-      <inertia ixx="0.00226311" ixy="-1.7788e-06" ixz="-0.000118559" iyy="0.00286571" iyz="1.47721e-05" izz="0.00163638"/>
+      <origin xyz="0.004828314385249669 0.00615667237451184 -0.0671378028889843" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <mass value="0.264229"/>
+      <inertia ixx="0.000428764" ixy="4.7873e-05" ixz="1.1114e-05" iyy="0.000348073" iyz="1.14469e-05" izz="0.00016164"/>
     </inertial>
     <visual>
-      <origin xyz="0 0 0.18085800000000013" rpy="0 0 -1.5707963267948966"/>
+      <origin xyz="0.03574323261035172 0.1370391384923124 0.35604813291443793" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_torso_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_hand_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="gray">
         <color rgba="0.5 0.5 0.5 1"/>
       </material>
     </visual>
-    <collision>
-      <origin xyz="0 0 0.18085800000000013" rpy="0 0 -1.5707963267948966"/>
-      <geometry>
-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_torso_2_prt.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-    </collision>
-  </link>
-  <joint name="torso_pitch" type="revolute">
-    <origin xyz="0 0 0.07250000000000001" rpy="0 0 0"/>
-    <axis xyz="0.0 1.0 0.0"/>
-    <parent link="torso_1"/>
-    <child link="torso_2"/>
-    <limit effort="50000" lower="-0.3141592653589793" upper="0.7853981633974483" velocity="120.0"/>
-    <dynamics damping="0.06" friction="0.0"/>
-  </joint>
-  <link name="chest">
-    <inertial>
-      <origin xyz="-0.0133964 -0.000262139 0.0551337" rpy="0 0 -1.5707963267948966"/>
-      <mass value="5.75757"/>
-      <inertia ixx="0.0255632" ixy="-5.31274e-05" ixz="9.38021e-05" iyy="0.0261369" iyz="-0.000610637" izz="0.0222276"/>
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0.11638800000000013" rpy="0 0 -1.5707963267948966"/>
-      <geometry>
-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_chest_prt.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="green">
-        <color rgba="0 1 0 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0.11638800000000013" rpy="0 0 -1.5707963267948966"/>
-      <geometry>
-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_chest_prt.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-    </collision>
-  </link>
-  <joint name="torso_yaw" type="revolute">
-    <origin xyz="0 0 0.06447000000000001" rpy="0 0 0"/>
-    <axis xyz="0.0 0.0 -1.0"/>
-    <parent link="torso_2"/>
-    <child link="chest"/>
-    <limit effort="50000" lower="-0.7504915783575618" upper="0.7504915783575618" velocity="120.0"/>
-    <dynamics damping="0.06" friction="0.0"/>
-  </joint>
-  <link name="chest_rgb_frame"/>
-  <joint name="chest_rgb_frame_fixed_joint" type="fixed">
-    <origin xyz="0.0894115 -0.0115 0.09929950000000001" rpy="-1.5707963267948968 0 -1.5707963267948968"/>
-    <parent link="chest"/>
-    <child link="chest_rgb_frame"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="chest_depth_frame"/>
-  <joint name="chest_depth_frame_fixed_joint" type="fixed">
-    <origin xyz="0.0894115 0.0175 0.09929950000000001" rpy="-1.5707963267948968 0 -1.5707963267948968"/>
-    <parent link="chest"/>
-    <child link="chest_depth_frame"/>
+    <collision>
+      <origin xyz="0.03574323261035172 0.1370391384923124 0.35604813291443793" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_hand_prt.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="r_wrist_yaw" type="continuous">
+    <origin xyz="-0.016300122874272734 0.006999390051091792 0" rpy="0 0 0"/>
+    <axis xyz="-2.4949582807394525e-07 1.0000002733514362 -2.7942487010105877e-08"/>
+    <parent link="r_wrist_1"/>
+    <child link="r_hand"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_shoulder_1">
     <inertial>
-      <origin xyz="0.0002918276617865645 0.05723090680782866 0.0005026028232598713" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
+      <origin xyz="0.0002918276617865645 0.05723090680782866 0.0005026028232598678" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
       <mass value="1.45562"/>
       <inertia ixx="0.00109517" ixy="0.000611891" ixz="0.000565594" iyy="0.00306956" iyz="-0.000159546" izz="0.00307951"/>
     </inertial>
     <visual>
-      <origin xyz="0.030411223823216205 -0.02914047750374663 0.019095766539677896" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
+      <origin xyz="0.030411223823216205 -0.02914047750374663 0.019095766539677893" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="black">
-        <color rgba="0 0 0 1"/>
+      <material name="green">
+        <color rgba="0 1 0 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0.030411223823216205 -0.02914047750374663 0.019095766539677896" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
+      <origin xyz="0.030411223823216205 -0.02914047750374663 0.019095766539677893" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -420,7 +386,7 @@
   </link>
   <joint name="l_shoulder_pitch" type="revolute">
     <origin xyz="-0.020835100000000002 0.0397423 0.1052029" rpy="0.25326162380993705 -1.1977334179319483e-07 -0.26179930184968747"/>
-    <axis xyz="3.323079797673039e-07 0.9999999783534342 1.4452224303407313e-07"/>
+    <axis xyz="3.323079797554136e-07 0.9999999783534342 1.4452224303420037e-07"/>
     <parent link="chest"/>
     <child link="l_shoulder_1"/>
     <limit effort="50000" lower="-1.53588974175501" upper="0.22689280275926285" velocity="120.0"/>
@@ -428,29 +394,29 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.0032933620254868984 0.0002563804707528261 -0.027865685757097337" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.003293362025486902 0.0002563804707528261 -0.027865685757097337" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <mass value="0.322126"/>
       <inertia ixx="0.000311039" ixy="-3.5032e-05" ixz="-2.4436e-05" iyy="0.000216027" iyz="-5.52877e-05" izz="0.00022365"/>
     </inertial>
     <visual>
-      <origin xyz="0.026393097869193412 -0.14153112610649204 -0.007252397644602138" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.02639309786919337 -0.14153112610649202 -0.0072523976446019255" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="red">
-        <color rgba="1 0 0 1"/>
+      <material name="black">
+        <color rgba="0 0 0 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0.026393097869193412 -0.14153112610649204 -0.007252397644602138" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.02639309786919337 -0.14153112610649202 -0.0072523976446019255" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="0.004992849331690818 0.111499838456099 0.0002686502277366859" rpy="-0.17453296140985 -0.05374759931933852 0"/>
-    <axis xyz="0.9999998262417684 2.0348252649342313e-07 -4.0230228454118944e-08"/>
+    <origin xyz="0.004992849331690818 0.111499838456099 0.00026865022773668243" rpy="-0.17453296140985003 -0.05374759931933849 0"/>
+    <axis xyz="0.9999998262417685 2.0348252625938444e-07 -4.023022846062156e-08"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.20943951023931956" upper="2.792526803190927" velocity="120.0"/>
@@ -458,57 +424,57 @@
   </joint>
   <link name="l_shoulder_3">
     <inertial>
-      <origin xyz="-4.41626402200232e-06 9.587749727052453e-05 -0.007326213473011087" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="-4.416264022005789e-06 9.587749727052453e-05 -0.007326213473011087" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <mass value="0.256128"/>
       <inertia ixx="7.10321e-05" ixy="-3.76336e-07" ixz="2.93189e-06" iyy="7.06105e-05" iyz="-3.52325e-06" izz="0.000119948"/>
     </inertial>
     <visual>
-      <origin xyz="0.03074323102617175 -0.14153148936381543 0.047047641079459586" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.030743231026171703 -0.14153148936381538 0.047047641079459794" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="blue">
-        <color rgba="0 0 1 1"/>
+      <material name="red">
+        <color rgba="1 0 0 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0.03074323102617175 -0.14153148936381543 0.047047641079459586" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.030743231026171703 -0.14153148936381538 0.047047641079459794" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_arm_ft_sensor" type="fixed">
-    <origin xyz="-0.004350133156978329 3.632573233880443e-07 -0.05430003872406172" rpy="0 0 0"/>
+    <origin xyz="-0.004350133156978318 3.632573233602887e-07 -0.05430003872406172" rpy="0 0 0"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_arm">
     <inertial>
-      <origin xyz="0.006736834478024381 -0.02179925575103303 -0.04590612014684704" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
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+      <origin xyz="0.008436901028384347 -0.02825065136033926 -0.04871214093553894" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <mass value="1.9475"/>
+      <inertia ixx="0.00402757" ixy="0.000270166" ixz="-0.000286443" iyy="0.0208452" iyz="0.000223927" izz="0.0187793"/>
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+      <origin xyz="0.030743149468679162 -0.14153106591133113 0.06954758245258448" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="yellow">
-        <color rgba="1 1 0 1"/>
+      <material name="blue">
+        <color rgba="0 0 1 1"/>
       </material>
     </visual>
     <collision>
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+      <origin xyz="0.030743149468679162 -0.14153106591133113 0.06954758245258448" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0 -4.2345248449371375e-07 -0.02249994137312443" rpy="0 0 0"/>
-    <axis xyz="2.227647404040578e-08 -4.393786245948661e-08 -1.0000002566182309"/>
+    <origin xyz="0 -4.2345248449371375e-07 -0.022499941373124423" rpy="0 0 0"/>
+    <axis xyz="2.2276474049102235e-08 -4.393786247302041e-08 -1.0000002566182309"/>
     <parent link="l_shoulder_3"/>
     <child link="l_upper_arm"/>
     <limit effort="50000" lower="-0.8726646259971648" upper="1.3962634015954636" velocity="120.0"/>
@@ -516,21 +482,21 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="-0.010241946078109292 0.0018224069895867168 -0.01508962025855548" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="-0.010241946078109288 0.0018224069895867168 -0.015089620258555453" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <mass value="0.230254"/>
       <inertia ixx="0.0001165" ixy="7.51175e-07" ixz="-9.8725e-06" iyy="0.00012549" iyz="-1.03338e-05" izz="4.38981e-05"/>
     </inertial>
     <visual>
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+      <origin xyz="0.020743219233759835 -0.14003141848790232 0.19324791999016797" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_elbow_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="pink">
-        <color rgba="1 0 1 1"/>
+      <material name="yellow">
+        <color rgba="1 1 0 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0.02074321923375982 -0.14003141848790218 0.19324791999016772" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.020743219233759835 -0.14003141848790232 0.19324791999016797" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_elbow_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -538,7 +504,7 @@
   </link>
   <joint name="l_elbow" type="revolute">
     <origin xyz="0.009999930234919404 -0.001499647423428896 -0.12370033753758375" rpy="0 0 0"/>
-    <axis xyz="-8.811824154381087e-08 -1.0000002733514628 4.4047361189014644e-08"/>
+    <axis xyz="-8.811824174789715e-08 -1.0000002733514628 4.404736120498342e-08"/>
     <parent link="l_upper_arm"/>
     <child link="l_elbow_1"/>
     <limit effort="50000" lower="-0.05235987755982989" upper="1.3089969389957472" velocity="120.0"/>
@@ -546,29 +512,29 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="-0.006269874102298061 -4.68551245806359e-05 -0.030648347755607153" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="-0.0062698741022980675 -4.68551245806359e-05 -0.030648347755607208" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <mass value="0.90793"/>
       <inertia ixx="0.00131822" ixy="-7.39737e-07" ixz="-2.69292e-05" iyy="0.00128448" iyz="0.000108551" izz="0.000646975"/>
     </inertial>
     <visual>
-      <origin xyz="0.03574308988793752 -0.14203106199153712 0.24854798357264754" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.035743089887937486 -0.14203106199153712 0.24854798357264754" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_forearm_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="cyan">
-        <color rgba="0 1 1 1"/>
+      <material name="pink">
+        <color rgba="1 0 1 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0.03574308988793752 -0.14203106199153712 0.24854798357264754" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.035743089887937486 -0.14203106199153712 0.24854798357264754" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_forearm_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="-0.014999870654177704 0.0019996435036348514 -0.055300063582479825" rpy="0 0 0"/>
-    <axis xyz="2.227647404040578e-08 -4.393786245948661e-08 -1.0000002566182309"/>
+    <origin xyz="-0.0149998706541777 0.0019996435036348514 -0.0553000635824798" rpy="0 0 0"/>
+    <axis xyz="2.2276474049102235e-08 -4.393786247302041e-08 -1.0000002566182309"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
     <limit effort="50000" lower="-1.53588974175501" upper="1.53588974175501" velocity="120.0"/>
@@ -576,29 +542,29 @@
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.014390150453737368 -0.0005083960996520587 -9.893035257668714e-05" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="-0.014390150453737368 -0.0005083960996520864 -9.893035257668714e-05" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <mass value="0.0344005"/>
       <inertia ixx="5.11755e-06" ixy="-9.19776e-07" ixz="-1.4756e-08" iyy="1.60849e-06" iyz="-1.11493e-07" izz="5.58546e-06"/>
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     <visual>
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+      <origin xyz="0.019143073953651328 -0.1440379572096098 0.3560476247151885" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="green">
-        <color rgba="0 1 0 1"/>
+      <material name="cyan">
+        <color rgba="0 1 1 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0.019143073953651363 -0.14403795720960977 0.3560476247151885" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.019143073953651328 -0.1440379572096098 0.3560476247151885" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.016600015934286182 0.002006895218072541 -0.10749964114254112" rpy="0 0 0"/>
-    <axis xyz="-0.9999998262417684 -2.0348252649342313e-07 4.0230228454118944e-08"/>
+    <origin xyz="0.016600015934286182 0.0020068952180725685 -0.10749964114254112" rpy="0 0 0"/>
+    <axis xyz="-0.9999998262417685 -2.0348252625938444e-07 4.023022846062156e-08"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
     <limit effort="50000" lower="-1.2217304763960306" upper="0.4363323129985824" velocity="120.0"/>
@@ -606,665 +572,699 @@
   </joint>
   <link name="l_hand">
     <inertial>
-      <origin xyz="0.004786523181334722 -0.0061337378723908265 -0.0672770617484692" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.004786523181334726 -0.0061337378723908265 -0.0672770617484692" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
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     <visual>
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+      <origin xyz="0.035443195698380774 -0.13703856452803848 0.35604770325391955" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_hand_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <material name="white">
-        <color rgba="1 1 1 1"/>
+      <material name="green">
+        <color rgba="0 1 0 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0.03544319569838081 -0.13703856452803848 0.35604770325391955" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
+      <origin xyz="0.035443195698380774 -0.13703856452803848 0.35604770325391955" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_hand_prt.stl" scale="0.001 0.001 0.001"/>
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     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
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-    <axis xyz="8.811824154381087e-08 1.0000002733514628 -4.4047361189014644e-08"/>
+    <origin xyz="-0.016300121744729387 -0.006999392681571209 0" rpy="0 0 0"/>
+    <axis xyz="8.811824174789715e-08 1.0000002733514628 -4.404736120498342e-08"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
     <limit effort="50000" lower="-0.2617993877991494" upper="0.6108652381980153" velocity="120.0"/>
     <dynamics damping="0.06" friction="0.0"/>
   </joint>
-  <link name="r_shoulder_1">
+  <link name="neck_1">
     <inertial>
-      <origin xyz="0.00026441971857374055 -0.05747129038042943 0.0004210903629773867" rpy="-0.06688725064450136 0.24445256247619251 -1.840815419889917"/>
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+      <origin xyz="0.00865 0 0.049000000000000016" rpy="-1.5707963267948968 0 -1.5707963267948968"/>
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-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_head_neck_1_prt.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.00865 0 0.049000000000000016" rpy="-1.5707963267948968 0 -1.5707963267948968"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_head_neck_1_prt.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="neck_fixed_joint" type="fixed">
+    <origin xyz="-0.00378849 0 0.1652995" rpy="0 0 0"/>
+    <parent link="chest"/>
+    <child link="neck_1"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="neck_2">
+    <inertial>
+      <origin xyz="-0.0063756 3.63093e-05 0.006597499999999992" rpy="-1.5707963267948968 0 -1.5707963267948968"/>
+      <mass value="0.125549"/>
+      <inertia ixx="4.05687e-05" ixy="5.89601e-08" ixz="9.99576e-08" iyy="3.86628e-05" iyz="-9.39299e-06" izz="4.74184e-05"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="-1.5707963267948968 0 -1.5707963267948968"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_head_neck_2_prt.stl" scale="0.001 0.001 0.001"/>
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       <material name="dblue">
         <color rgba="0 0 0.8 1"/>
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+      <origin xyz="0 0 0" rpy="-1.5707963267948968 0 -1.5707963267948968"/>
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-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_head_neck_2_prt.stl" scale="0.001 0.001 0.001"/>
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     </collision>
   </link>
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-    <parent link="chest"/>
-    <child link="r_shoulder_1"/>
-    <limit effort="50000" lower="-1.53588974175501" upper="0.22689280275926285" velocity="120.0"/>
+  <joint name="neck_pitch" type="revolute">
+    <origin xyz="0.00865 0 0.049000000000000016" rpy="0 0 0"/>
+    <axis xyz="0.0 -1.0 0.0"/>
+    <parent link="neck_1"/>
+    <child link="neck_2"/>
+    <limit effort="50000" lower="-0.5235987755982988" upper="0.3839724354387525" velocity="120.0"/>
     <dynamics damping="0.06" friction="0.0"/>
   </joint>
-  <link name="r_shoulder_2">
+  <link name="neck_3">
     <inertial>
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-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_head_neck_3_prt.stl" scale="0.001 0.001 0.001"/>
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       <material name="dgreen">
         <color rgba="0.1 0.8 0.1 1"/>
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-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_head_neck_3_prt.stl" scale="0.001 0.001 0.001"/>
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     </collision>
   </link>
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-    <parent link="r_shoulder_1"/>
-    <child link="r_shoulder_2"/>
-    <limit effort="50000" lower="0.20943951023931956" upper="2.792526803190927" velocity="120.0"/>
+  <joint name="neck_roll" type="revolute">
+    <origin xyz="0 0 0.009500499999999995" rpy="0 0 0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+    <parent link="neck_2"/>
+    <child link="neck_3"/>
+    <limit effort="50000" lower="-0.3490658503988659" upper="0.3490658503988659" velocity="120.0"/>
     <dynamics damping="0.06" friction="0.0"/>
   </joint>
-  <link name="r_shoulder_3">
+  <link name="head">
     <inertial>
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-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_head_head_prt.stl" scale="0.001 0.001 0.001"/>
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       <material name="gray">
         <color rgba="0.5 0.5 0.5 1"/>
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+        <mesh filename="package://iCub/meshes/simmechanics/sim_head_head_prt.stl" scale="0.001 0.001 0.001"/>
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+    <axis xyz="-1.6255499221370677e-21 -1.0999983743979075e-15 1.0"/>
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+    <dynamics damping="0.06" friction="0.0"/>
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+  <link name="imu_frame"/>
+  <joint name="imu_frame_fixed_joint" type="fixed">
+    <origin xyz="0.0034999999997785457 0.0054999999863750895 0.1013340000004441" rpy="-3.141592653589793 0 -1.570796326794897"/>
+    <parent link="head"/>
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-  <link name="r_upper_arm">
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+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_hip_1_prt.stl" scale="0.001 0.001 0.001"/>
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       <material name="green">
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+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_hip_1_prt.stl" scale="0.001 0.001 0.001"/>
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+    <axis xyz="0.0 -1.0 0.0"/>
+    <parent link="root_link"/>
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     <dynamics damping="0.06" friction="0.0"/>
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-  <link name="r_elbow_1">
+  <link name="r_hip_2">
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+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_hip_2_prt.stl" scale="0.001 0.001 0.001"/>
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       <material name="black">
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+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_hip_2_prt.stl" scale="0.001 0.001 0.001"/>
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+  <joint name="r_hip_roll" type="revolute">
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     <dynamics damping="0.06" friction="0.0"/>
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+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_hip_3_prt.stl" scale="0.001 0.001 0.001"/>
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       <material name="red">
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+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_hip_3_prt.stl" scale="0.001 0.001 0.001"/>
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+    <parent link="r_hip_2"/>
+    <child link="r_hip_3"/>
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+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_upper_leg_prt.stl" scale="0.001 0.001 0.001"/>
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     <dynamics damping="0.06" friction="0.0"/>
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-  <link name="r_hand">
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+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_lower_leg_prt.stl" scale="0.001 0.001 0.001"/>
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+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_lower_leg_prt.stl" scale="0.001 0.001 0.001"/>
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+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_ankle_1_prt.stl" scale="0.001 0.001 0.001"/>
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+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_ankle_1_prt.stl" scale="0.001 0.001 0.001"/>
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+  <joint name="r_ankle_pitch" type="revolute">
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+    <axis xyz="0.0 1.0 0.0"/>
+    <parent link="r_lower_leg"/>
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+    <dynamics damping="0.06" friction="0.0"/>
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-  <link name="neck_2">
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+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_ankle_2_prt.stl" scale="0.001 0.001 0.001"/>
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       <material name="cyan">
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+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_ankle_2_prt.stl" scale="0.001 0.001 0.001"/>
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-    <origin xyz="0.00865 0 0.049000000000000016" rpy="0 0 0"/>
-    <axis xyz="0.0 -1.0 0.0"/>
-    <parent link="neck_1"/>
-    <child link="neck_2"/>
-    <limit effort="50000" lower="-0.5235987755982988" upper="0.3839724354387525" velocity="120.0"/>
+  <joint name="r_ankle_roll" type="revolute">
+    <origin xyz="-0.052750000000000005 0.018200000000000008 -0.03500000000000003" rpy="0 0 0"/>
+    <axis xyz="-1.0 0.0 0.0"/>
+    <parent link="r_ankle_1"/>
+    <child link="r_ankle_2"/>
+    <limit effort="50000" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="120.0"/>
     <dynamics damping="0.06" friction="0.0"/>
   </joint>
-  <link name="neck_3">
+  <link name="r_foot_front">
     <inertial>
-      <origin xyz="0.0012653999999999999 -8.218820291562122e-05 0.03610899999999334" rpy="-1.5707963267948968 0 -1.5707963267948968"/>
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+      <origin xyz="-0.0004180000000000017 0.0004849999999999993 0.005581000000000058" rpy="0 0 -1.5707963267948966"/>
+      <mass value="0.185773"/>
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     <visual>
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-        <mesh filename="package://iCub/meshes/simmechanics/sim_head_neck_3_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_foot_front_prt.stl" scale="0.001 0.001 0.001"/>
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       <material name="green">
         <color rgba="0 1 0 1"/>
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     </visual>
     <collision>
-      <origin xyz="0 0 -0.009500499999999995" rpy="-1.5707963267948968 0 -1.5707963267948968"/>
+      <origin xyz="-0.10850000000000011 0.06484999999993908 0.9464470000000105" rpy="0 0 -1.5707963267948966"/>
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-        <mesh filename="package://iCub/meshes/simmechanics/sim_head_neck_3_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_foot_front_prt.stl" scale="0.001 0.001 0.001"/>
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-  <joint name="neck_roll" type="revolute">
-    <origin xyz="0 0 0.009500499999999995" rpy="0 0 0"/>
-    <axis xyz="1.0 0.0 0.0"/>
-    <parent link="neck_2"/>
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-    <limit effort="50000" lower="-0.3490658503988659" upper="0.3490658503988659" velocity="120.0"/>
-    <dynamics damping="0.06" friction="0.0"/>
+  <joint name="r_foot_front_ft_sensor" type="fixed">
+    <origin xyz="0.13525 0 -0.06579999999999997" rpy="0 0 0"/>
+    <parent link="r_ankle_2"/>
+    <child link="r_foot_front"/>
+    <dynamics damping="0.1"/>
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-  <link name="head">
+  <link name="r_foot_rear">
     <inertial>
-      <origin xyz="-0.020599810000021337 0.0005299479913152583 0.028135000000042792" rpy="-1.5707963267948966 0 -1.5707963267948966"/>
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     <visual>
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-        <mesh filename="package://iCub/meshes/simmechanics/sim_head_head_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_foot_rear_prt.stl" scale="0.001 0.001 0.001"/>
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       <material name="white">
         <color rgba="1 1 1 1"/>
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     <collision>
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+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_foot_rear_prt.stl" scale="0.001 0.001 0.001"/>
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-  <joint name="neck_yaw" type="revolute">
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-    <dynamics damping="0.06" friction="0.0"/>
+  <joint name="r_foot_rear_ft_sensor" type="fixed">
+    <origin xyz="0.016 0 -0.06579999999999997" rpy="0 0 0"/>
+    <parent link="r_ankle_2"/>
+    <child link="r_foot_rear"/>
+    <dynamics damping="0.1"/>
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-  <link name="imu_frame"/>
-  <joint name="imu_frame_fixed_joint" type="fixed">
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-    <parent link="head"/>
-    <child link="imu_frame"/>
+  <link name="r_sole"/>
+  <joint name="r_sole_fixed_joint" type="fixed">
+    <origin xyz="0.05963000000000001 0 0" rpy="0 0 0"/>
+    <parent link="r_foot_rear"/>
+    <child link="r_sole"/>
     <dynamics damping="0.1"/>
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-  <link name="r_hip_1">
+  <link name="l_hip_1">
     <inertial>
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+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_hip_1_prt.stl" scale="0.001 0.001 0.001"/>
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       <material name="dblue">
         <color rgba="0 0 0.8 1"/>
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+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_hip_1_prt.stl" scale="0.001 0.001 0.001"/>
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-  <joint name="r_hip_pitch" type="revolute">
-    <origin xyz="0.0216 -0.040549999999999996 0" rpy="0 0 0"/>
+  <joint name="l_hip_pitch" type="revolute">
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     <axis xyz="0.0 -1.0 0.0"/>
     <parent link="root_link"/>
-    <child link="r_hip_1"/>
+    <child link="l_hip_1"/>
     <limit effort="50000" lower="-0.7853981633974483" upper="2.007128639793479" velocity="120.0"/>
     <dynamics damping="0.06" friction="0.0"/>
   </joint>
-  <link name="r_hip_2">
+  <link name="l_hip_2">
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-      <origin xyz="-0.005954300000000003 -6.869999999999099e-05 -0.03664600000000001" rpy="0 0 -1.5707963267948966"/>
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+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_hip_2_prt.stl" scale="0.001 0.001 0.001"/>
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       <material name="dgreen">
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+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_hip_2_prt.stl" scale="0.001 0.001 0.001"/>
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-    <axis xyz="-1.0 0.0 0.0"/>
-    <parent link="r_hip_1"/>
-    <child link="r_hip_2"/>
+  <joint name="l_hip_roll" type="revolute">
+    <origin xyz="-0.04725 0.0331 -0.009000000000000008" rpy="0 0 0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+    <parent link="l_hip_1"/>
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     <dynamics damping="0.06" friction="0.0"/>
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-  <link name="r_hip_3">
+  <link name="l_hip_3">
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+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_hip_3_prt.stl" scale="0.001 0.001 0.001"/>
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       <material name="gray">
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+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_hip_3_prt.stl" scale="0.001 0.001 0.001"/>
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     </collision>
   </link>
-  <joint name="r_leg_ft_sensor" type="fixed">
+  <joint name="l_leg_ft_sensor" type="fixed">
     <origin xyz="0.036699999999999997 0 -0.08969999999999995" rpy="0 0 0"/>
-    <parent link="r_hip_2"/>
-    <child link="r_hip_3"/>
+    <parent link="l_hip_2"/>
+    <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
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-  <link name="r_upper_leg">
+  <link name="l_upper_leg">
     <inertial>
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+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_upper_leg_prt.stl" scale="0.001 0.001 0.001"/>
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       <material name="green">
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+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_upper_leg_prt.stl" scale="0.001 0.001 0.001"/>
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-    <axis xyz="0.0 0.0 -1.0"/>
-    <parent link="r_hip_3"/>
-    <child link="r_upper_leg"/>
+  <joint name="l_hip_yaw" type="revolute">
+    <origin xyz="0 -0.015000000000000006 -0.07090000000000007" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
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+    <child link="l_upper_leg"/>
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     <dynamics damping="0.06" friction="0.0"/>
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-  <link name="r_lower_leg">
+  <link name="l_lower_leg">
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+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_lower_leg_prt.stl" scale="0.001 0.001 0.001"/>
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+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_lower_leg_prt.stl" scale="0.001 0.001 0.001"/>
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+  <joint name="l_knee" type="revolute">
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     <axis xyz="0.0 -1.0 0.0"/>
-    <parent link="r_upper_leg"/>
-    <child link="r_lower_leg"/>
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     <limit effort="50000" lower="-1.2217304763960306" upper="0.08726646259971647" velocity="120.0"/>
     <dynamics damping="0.06" friction="0.0"/>
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-  <link name="r_ankle_1">
+  <link name="l_ankle_1">
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       <geometry>
-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_ankle_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_ankle_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="red">
         <color rgba="1 0 0 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.02600000000000011 0.08304999999996568 0.8456470000000077" rpy="0 0 -1.5707963267948966"/>
+      <origin xyz="-0.026050000000000184 -0.08294999999999977 0.8456470000000004" rpy="0 0 -1.5707963267948966"/>
       <geometry>
-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_ankle_1_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_ankle_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="r_ankle_pitch" type="revolute">
-    <origin xyz="0 0.0005000000000000004 -0.255989" rpy="0 0 0"/>
+  <joint name="l_ankle_pitch" type="revolute">
+    <origin xyz="0 -0.0005000000000000004 -0.255989" rpy="0 0 0"/>
     <axis xyz="0.0 1.0 0.0"/>
-    <parent link="r_lower_leg"/>
-    <child link="r_ankle_1"/>
+    <parent link="l_lower_leg"/>
+    <child link="l_ankle_1"/>
     <limit effort="50000" lower="-0.7853981633974483" upper="0.7853981633974483" velocity="120.0"/>
     <dynamics damping="0.06" friction="0.0"/>
   </joint>
-  <link name="r_ankle_2">
+  <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0395675 7.049999999998724e-05 -0.025381999999999905" rpy="0 0 -1.5707963267948966"/>
-      <mass value="1.06976"/>
-      <inertia ixx="0.00510275" ixy="-5.609926378638145e-06" ixz="1.5891222438924056e-06" iyy="0.000995114" iyz="0.0009010700389876306" izz="0.00458166"/>
+      <origin xyz="0.0395705 -8.679999999999799e-05 -0.025456999999999952" rpy="0 0 -1.5707963267948966"/>
+      <mass value="1.06953"/>
+      <inertia ixx="0.00503581" ixy="5.20865e-06" ixz="-3.95084e-06" iyy="0.000929762" iyz="0.000893221" izz="0.00457973"/>
     </inertial>
     <visual>
-      <origin xyz="0.026749999999999875 0.0648499999999391 0.8806470000000108" rpy="0 0 -1.5707963267948966"/>
+      <origin xyz="0.026700000000000015 -0.06475000000001183 0.8806469999999995" rpy="0 0 -1.5707963267948966"/>
       <geometry>
-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_ankle_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_ankle_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="blue">
         <color rgba="0 0 1 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0.026749999999999875 0.0648499999999391 0.8806470000000108" rpy="0 0 -1.5707963267948966"/>
+      <origin xyz="0.026700000000000015 -0.06475000000001183 0.8806469999999995" rpy="0 0 -1.5707963267948966"/>
       <geometry>
-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_ankle_2_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_ankle_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="r_ankle_roll" type="revolute">
-    <origin xyz="-0.052750000000000005 0.018200000000000008 -0.03500000000000003" rpy="0 0 0"/>
-    <axis xyz="-1.0 0.0 0.0"/>
-    <parent link="r_ankle_1"/>
-    <child link="r_ankle_2"/>
+  <joint name="l_ankle_roll" type="revolute">
+    <origin xyz="-0.052750000000000005 -0.018200000000000008 -0.03500000000000003" rpy="0 0 0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+    <parent link="l_ankle_1"/>
+    <child link="l_ankle_2"/>
     <limit effort="50000" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="120.0"/>
     <dynamics damping="0.06" friction="0.0"/>
   </joint>
-  <link name="r_foot_front">
+  <link name="l_foot_rear">
     <inertial>
-      <origin xyz="0.0005860000000000032 0 0.0029439999999999467" rpy="0 0 -1.5707963267948966"/>
-      <mass value="0.184375"/>
-      <inertia ixx="0.000770637" ixy="0.0" ixz="0.0" iyy="0.000568064" iyz="-6.05088e-09" izz="0.001333"/>
+      <origin xyz="0.0005056000000000001 3.350000000000575e-05 0.003658999999999968" rpy="0 0 -1.5707963267948966"/>
+      <mass value="0.184608"/>
+      <inertia ixx="0.000293567" ixy="-3.94431e-07" ixz="3.49332e-06" iyy="0.000234498" iyz="8.41971e-06" izz="0.000377639"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10850000000000011 0.06484999999993908 0.9464470000000105" rpy="0 0 -1.5707963267948966"/>
+      <origin xyz="0.010700000000000006 -0.06475000000001183 0.9464469999999993" rpy="0 0 -1.5707963267948966"/>
       <geometry>
-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_foot_front_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_foot_rear_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="yellow">
         <color rgba="1 1 0 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10850000000000011 0.06484999999993908 0.9464470000000105" rpy="0 0 -1.5707963267948966"/>
+      <origin xyz="0.010700000000000006 -0.06475000000001183 0.9464469999999993" rpy="0 0 -1.5707963267948966"/>
       <geometry>
-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_foot_front_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_foot_rear_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="r_foot_front_ft_sensor" type="fixed">
-    <origin xyz="0.13525 0 -0.06579999999999997" rpy="0 0 0"/>
-    <parent link="r_ankle_2"/>
-    <child link="r_foot_front"/>
+  <joint name="l_foot_rear_ft_sensor" type="fixed">
+    <origin xyz="0.016 0 -0.06579999999999997" rpy="0 0 0"/>
+    <parent link="l_ankle_2"/>
+    <child link="l_foot_rear"/>
     <dynamics damping="0.1"/>
   </joint>
-  <link name="r_foot_rear">
+  <link name="l_sole"/>
+  <joint name="l_sole_fixed_joint" type="fixed">
+    <origin xyz="0.05963 0 0" rpy="0 0 0"/>
+    <parent link="l_foot_rear"/>
+    <child link="l_sole"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_foot_front">
     <inertial>
-      <origin xyz="-0.00021610000000000032 -9.280000000001787e-05 0.00317400000000001" rpy="0 0 -1.5707963267948966"/>
-      <mass value="0.18484137"/>
-      <inertia ixx="0.000769193" ixy="-2.5651250600641865e-07" ixz="-2.2147748640508236e-08" iyy="0.000565835" iyz="1.983394982171303e-08" izz="0.00132907"/>
+      <origin xyz="7.700000000000762e-05 -3.990000000000937e-05 0.004256999999999955" rpy="0 0 -1.5707963267948966"/>
+      <mass value="0.185074"/>
+      <inertia ixx="0.000335966" ixy="3.66787e-07" ixz="2.80714e-07" iyy="0.000264747" iyz="3.61549e-05" izz="0.000390582"/>
     </inertial>
     <visual>
-      <origin xyz="0.010749999999999881 0.0648499999999391 0.9464470000000105" rpy="0 0 -1.5707963267948966"/>
+      <origin xyz="-0.10854999999999998 -0.06475000000001183 0.9464469999999993" rpy="0 0 -1.5707963267948966"/>
       <geometry>
-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_foot_rear_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_foot_front_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="pink">
         <color rgba="1 0 1 1"/>
       </material>
     </visual>
     <collision>
-      <origin xyz="0.010749999999999881 0.0648499999999391 0.9464470000000105" rpy="0 0 -1.5707963267948966"/>
+      <origin xyz="-0.10854999999999998 -0.06475000000001183 0.9464469999999993" rpy="0 0 -1.5707963267948966"/>
       <geometry>
-        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_foot_rear_prt.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_foot_front_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
-  <joint name="r_foot_rear_ft_sensor" type="fixed">
-    <origin xyz="0.016 0 -0.06579999999999997" rpy="0 0 0"/>
-    <parent link="r_ankle_2"/>
-    <child link="r_foot_rear"/>
-    <dynamics damping="0.1"/>
-  </joint>
-  <link name="r_sole"/>
-  <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.05963000000000001 0 0" rpy="0 0 0"/>
-    <parent link="r_foot_rear"/>
-    <child link="r_sole"/>
+  <joint name="l_foot_front_ft_sensor" type="fixed">
+    <origin xyz="0.13524999999999998 0 -0.06579999999999997" rpy="0 0 0"/>
+    <parent link="l_ankle_2"/>
+    <child link="l_foot_front"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="base_link"/>
@@ -1524,7 +1524,7 @@
         <frame>sensor</frame>
         <measure_direction>child_to_parent</measure_direction>
       </force_torque>
-      <pose>-0.004350133156978329 3.632573233880443e-07 -0.05430003872406172 3.141592646862139 -3.104683320142575e-08 -1.5707962571980942</pose>
+      <pose>-0.004350133156978318 3.632573233602887e-07 -0.05430003872406172 3.141592646862139 -3.10468332187885e-08 -1.5707962571980942</pose>
       <plugin name="left_arm_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
   <yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_left_arm_ft.ini</yarpConfigurationFile>
 </plugin>
@@ -1536,7 +1536,7 @@
       <frame>sensor</frame>
       <measure_direction>child_to_parent</measure_direction>
     </force_torque>
-    <origin rpy="3.141592646862139 -3.104683320142575e-08 -1.5707962571980942" xyz="-0.004350133156978329 3.632573233880443e-07 -0.05430003872406172"/>
+    <origin rpy="3.141592646862139 -3.10468332187885e-08 -1.5707962571980942" xyz="-0.004350133156978318 3.632573233602887e-07 -0.05430003872406172"/>
   </sensor>
   <gazebo reference="r_arm_ft_sensor">
     <sensor name="r_arm_ft_sensor" type="force_torque">
@@ -1546,7 +1546,7 @@
         <frame>sensor</frame>
         <measure_direction>child_to_parent</measure_direction>
       </force_torque>
-      <pose>-0.006849946385389875 2.1904996055921444e-07 -0.05429998157789099 3.141592644717707 4.094299285979593e-08 1.5707964185756365</pose>
+      <pose>-0.006849946385389872 2.1904996058697002e-07 -0.05429998157789099 3.141592644717707 4.094299285979593e-08 1.5707964185756365</pose>
       <plugin name="right_arm_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
   <yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_right_arm_ft.ini</yarpConfigurationFile>
 </plugin>
@@ -1558,7 +1558,7 @@
       <frame>sensor</frame>
       <measure_direction>child_to_parent</measure_direction>
     </force_torque>
-    <origin rpy="3.141592644717707 4.094299285979593e-08 1.5707964185756365" xyz="-0.006849946385389875 2.1904996055921444e-07 -0.05429998157789099"/>
+    <origin rpy="3.141592644717707 4.094299285979593e-08 1.5707964185756365" xyz="-0.006849946385389872 2.1904996058697002e-07 -0.05429998157789099"/>
   </sensor>
   <gazebo reference="l_foot_front_ft_sensor">
     <sensor name="l_foot_front_ft_sensor" type="force_torque">
@@ -1568,7 +1568,7 @@
         <frame>sensor</frame>
         <measure_direction>parent_to_child</measure_direction>
       </force_torque>
-      <pose>0.13524999999999998 0.0 -0.04349999999999998 0.0 -0.0 -2.094395210586932</pose>
+      <pose>0.0 0.0 0.022299999999999986 0.0 -0.0 -2.094395210586932</pose>
       <plugin name="left_foot_front_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
   <yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_left_foot_front_ft.ini</yarpConfigurationFile>
 </plugin>
@@ -1580,7 +1580,7 @@
       <frame>sensor</frame>
       <measure_direction>parent_to_child</measure_direction>
     </force_torque>
-    <origin rpy="0.0 -0.0 -2.094395210586932" xyz="0.13524999999999998 0.0 -0.04349999999999998"/>
+    <origin rpy="0.0 -0.0 -2.094395210586932" xyz="0.0 0.0 0.022299999999999986"/>
   </sensor>
   <gazebo reference="l_foot_rear_ft_sensor">
     <sensor name="l_foot_rear_ft_sensor" type="force_torque">
@@ -1590,7 +1590,7 @@
         <frame>sensor</frame>
         <measure_direction>parent_to_child</measure_direction>
       </force_torque>
-      <pose>0.016 0.0 -0.04349999999999998 0.0 -0.0 -2.094395210586932</pose>
+      <pose>0.0 0.0 0.022299999999999986 0.0 -0.0 -2.094395210586932</pose>
       <plugin name="left_foot_rear_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
   <yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_left_foot_rear_ft.ini</yarpConfigurationFile>
 </plugin>
@@ -1602,7 +1602,7 @@
       <frame>sensor</frame>
       <measure_direction>parent_to_child</measure_direction>
     </force_torque>
-    <origin rpy="0.0 -0.0 -2.094395210586932" xyz="0.016 0.0 -0.04349999999999998"/>
+    <origin rpy="0.0 -0.0 -2.094395210586932" xyz="0.0 0.0 0.022299999999999986"/>
   </sensor>
   <gazebo reference="r_foot_front_ft_sensor">
     <sensor name="r_foot_front_ft_sensor" type="force_torque">
@@ -1612,7 +1612,7 @@
         <frame>sensor</frame>
         <measure_direction>parent_to_child</measure_direction>
       </force_torque>
-      <pose>0.13525 0.0 -0.04349999999999998 0.0 -0.0 -2.094395210586932</pose>
+      <pose>0.0 0.0 0.022299999999999986 0.0 -0.0 -2.094395210586932</pose>
       <plugin name="right_foot_front_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
   <yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_right_foot_front_ft.ini</yarpConfigurationFile>
 </plugin>
@@ -1624,7 +1624,7 @@
       <frame>sensor</frame>
       <measure_direction>parent_to_child</measure_direction>
     </force_torque>
-    <origin rpy="0.0 -0.0 -2.094395210586932" xyz="0.13525 0.0 -0.04349999999999998"/>
+    <origin rpy="0.0 -0.0 -2.094395210586932" xyz="0.0 0.0 0.022299999999999986"/>
   </sensor>
   <gazebo reference="r_foot_rear_ft_sensor">
     <sensor name="r_foot_rear_ft_sensor" type="force_torque">
@@ -1634,7 +1634,7 @@
         <frame>sensor</frame>
         <measure_direction>parent_to_child</measure_direction>
       </force_torque>
-      <pose>0.016 0.0 -0.04349999999999998 0.0 -0.0 -2.094395210586932</pose>
+      <pose>0.0 0.0 0.022299999999999986 0.0 -0.0 -2.094395210586932</pose>
       <plugin name="right_foot_rear_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
   <yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_right_foot_rear_ft.ini</yarpConfigurationFile>
 </plugin>
@@ -1646,7 +1646,7 @@
       <frame>sensor</frame>
       <measure_direction>parent_to_child</measure_direction>
     </force_torque>
-    <origin rpy="0.0 -0.0 -2.094395210586932" xyz="0.016 0.0 -0.04349999999999998"/>
+    <origin rpy="0.0 -0.0 -2.094395210586932" xyz="0.0 0.0 0.022299999999999986"/>
   </sensor>
   <gazebo reference="head">
     <sensor name="head_imu_acc_1x1" type="imu">

From 192c4a1fc0eeaa54c7cc222e99a1c10e4a0704a7 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Nicol=C3=B2=20Genesio=20=28=E4=BA=8C=E3=82=B3=E3=82=B2?=
 =?UTF-8?q?=E3=83=8D=29?= <nicolo.genesio@iit.it>
Date: Mon, 22 Feb 2021 12:03:53 +0000
Subject: [PATCH 10/10] Automatic build. GitHub Actions build: 589039128
 icub-model-generator commit:
 robotology/icub-models-generator@20a9bbcfa6e962c44be22a30c531724a0227fb7e
 urdf_parser_py commit:
 ros/urdf_parser_py@31474b9baaf7c3845b40e5a9aa87d5900a2282c3
 simmechanics-to-urdf commit:
 robotology/simmechanics-to-urdf@f6055ab8d627c45138ddde46532ea42a74b48caa

---
 iCub/robots/iCubDarmstadt01/model.urdf     |  374 +--
 iCub/robots/iCubErzelli02/model.urdf       | 3414 ++++++++++++++++++++
 iCub/robots/iCubGazeboV2_5/model.urdf      |  372 +--
 iCub/robots/iCubGazeboV2_5_plus/model.urdf |  346 +-
 iCub/robots/iCubGazeboV2_6/model.urdf      |  372 +--
 iCub/robots/iCubGazeboV2_7/model.urdf      |  372 +--
 iCub/robots/iCubGazeboV3/model.urdf        |  144 +-
 iCub/robots/iCubGenova01/model.urdf        |  374 +--
 iCub/robots/iCubGenova02/model.urdf        |  348 +-
 iCub/robots/iCubGenova04/model.urdf        |  374 +--
 iCub/robots/iCubGenova04_plus/model.urdf   |  348 +-
 iCub/robots/iCubGenova09/model.urdf        |  144 +-
 12 files changed, 5198 insertions(+), 1784 deletions(-)
 create mode 100644 iCub/robots/iCubErzelli02/model.urdf

diff --git a/iCub/robots/iCubDarmstadt01/model.urdf b/iCub/robots/iCubDarmstadt01/model.urdf
index 676aece..1acd7d5 100644
--- a/iCub/robots/iCubDarmstadt01/model.urdf
+++ b/iCub/robots/iCubDarmstadt01/model.urdf
@@ -23,12 +23,12 @@
   </link>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -37,7 +37,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -199,7 +199,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
+    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -213,7 +213,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
+    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -241,7 +241,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
+    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -269,21 +269,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
+    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
+    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
+    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -318,14 +318,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
+    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
+    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -339,21 +339,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
+    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
+    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
+    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -374,14 +374,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
+    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
+    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -402,7 +402,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
+    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -416,7 +416,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
+    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -511,12 +511,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.033600099999999994 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.03360009999999998 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.382866"/>
       <inertia ixx="0.00120946" ixy="3.74585e-07" ixz="-5.78759e-05" iyy="0.00141439" iyz="-7.80325e-06" izz="0.000273599"/>
     </inertial>
     <visual>
-      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -525,7 +525,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -539,14 +539,14 @@
   </joint>
   <link name="r_sole"/>
   <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.003500000000000003 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
+    <origin xyz="0.003499999999999996 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_0"/>
   <joint name="r_sole_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.060476699999999994 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.06047669999999999 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_0"/>
     <dynamics damping="0.1"/>
@@ -560,14 +560,14 @@
   </joint>
   <link name="r_sole_skin_2"/>
   <joint name="r_sole_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.09320869999999999 -0.032368 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.09320869999999998 -0.032368 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_3"/>
   <joint name="r_sole_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.11158309999999998 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.11158309999999996 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_3"/>
     <dynamics damping="0.1"/>
@@ -609,112 +609,112 @@
   </joint>
   <link name="r_sole_skin_12"/>
   <joint name="r_sole_skin_12_fixed_joint" type="fixed">
-    <origin xyz="0.08286799999999998 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.08286799999999997 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_12"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_13"/>
   <joint name="r_sole_skin_13_fixed_joint" type="fixed">
-    <origin xyz="0.10124239999999998 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.10124239999999997 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_13"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_14"/>
   <joint name="r_sole_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.050136039999999986 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.05013603999999998 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_14"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_15"/>
   <joint name="r_sole_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.04611918999999999 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.046119189999999984 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_17"/>
   <joint name="r_sole_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.02968549999999999 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.029685499999999997 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_18"/>
   <joint name="r_sole_skin_18_fixed_joint" type="fixed">
-    <origin xyz="-0.0480599 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.04805990000000001 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_18"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_19"/>
   <joint name="r_sole_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.052076700000000004 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.05207670000000001 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_20"/>
   <joint name="r_sole_skin_20_fixed_joint" type="fixed">
-    <origin xyz="-0.03771920000000001 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.037719200000000015 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_21"/>
   <joint name="r_sole_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.03577849999999999 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.03577849999999998 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_21"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_22"/>
   <joint name="r_sole_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.027744799999999997 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.02774479999999999 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_22"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_24"/>
   <joint name="r_sole_skin_24_fixed_joint" type="fixed">
-    <origin xyz="-0.004987199999999997 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.004987200000000004 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_24"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_25"/>
   <joint name="r_sole_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.013387200000000002 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.013387199999999995 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_25"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_26"/>
   <joint name="r_sole_skin_26_fixed_joint" type="fixed">
-    <origin xyz="0.017404099999999992 0.0133722 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.017404099999999985 0.0133722 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_26"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_27"/>
   <joint name="r_sole_skin_27_fixed_joint" type="fixed">
-    <origin xyz="0.0030464999999999867 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.0030464999999999798 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_27"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_28"/>
   <joint name="r_sole_skin_28_fixed_joint" type="fixed">
-    <origin xyz="-0.015327899999999992 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.015327899999999998 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_28"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_29"/>
   <joint name="r_sole_skin_29_fixed_joint" type="fixed">
-    <origin xyz="-0.019344799999999995 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.019344800000000002 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_29"/>
     <dynamics damping="0.1"/>
@@ -938,12 +938,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
+      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000158626" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.000206526" iyz="1.19785e-06" izz="0.000104956"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -952,15 +952,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
-    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
+    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -989,7 +989,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
+    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -1026,12 +1026,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13344e-05" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="5.86947e-05" iyz="3.92498e-06" izz="9.68353e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1040,7 +1040,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1056,7 +1056,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -1077,7 +1077,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -1086,35 +1086,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1135,14 +1135,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -1170,7 +1170,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -1191,35 +1191,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1254,19 +1254,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="5.57722e-06" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="5.29845e-06" iyz="-1.59685e-07" izz="1.87724e-06"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1275,14 +1275,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -1312,7 +1312,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -1358,12 +1358,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
+      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000159621" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.000222574" iyz="1.20112e-06" izz="0.000120056"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1372,15 +1372,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
-    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
+    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -1409,7 +1409,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
+    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -1446,7 +1446,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13352e-05" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="5.86823e-05" iyz="3.9319e-06" izz="9.68469e-05"/>
     </inertial>
@@ -1476,7 +1476,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -1497,7 +1497,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -1506,35 +1506,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1555,7 +1555,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -1576,7 +1576,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -1611,35 +1611,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1653,7 +1653,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1674,19 +1674,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="5.56774e-06" ixy="3.08362e-08" ixz="9.42153e-07" iyy="5.28838e-06" iyz="-1.58924e-07" izz="1.87579e-06"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1695,14 +1695,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1732,7 +1732,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1748,12 +1748,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1762,7 +1762,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1778,12 +1778,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0011062999999999976 1.730000000001175e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0011062999999999906 1.7299999999997873e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.415987"/>
       <inertia ixx="0.000475741" ixy="2.89355e-07" ixz="-6.72876e-08" iyy="0.000279828" iyz="6.7417e-06" izz="0.000307828"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1792,14 +1792,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
+    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1808,12 +1808,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.00012290000000000217 -0.0002822999999999992 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012289999999999524 -0.00028229999999998534 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="3.27938e-05" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="5.69957e-05" iyz="3.32338e-08" izz="3.26449e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1822,26 +1822,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008301999999999962 7.519999999999749e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008301999999999893 7.519999999998361e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868999999999913 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868999999999982 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1850,7 +1850,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1866,7 +1866,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.051256699999999995 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.05125669999999999 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1880,12 +1880,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.0009997999999999951 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.000999800000000002 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1894,7 +1894,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1910,12 +1910,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015153099999999989 0.0009020000000000139 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.015153099999999996 0.000902 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447429734460005" ixy="-1.1322603878053663e-06" ixz="3.046651057758992e-05" iyy="0.0004478873540695352" iyz="2.5726583414130826e-06" izz="0.0003076030453774591"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1924,7 +1924,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1940,12 +1940,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011446999999999985 3.599999999992498e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0011447000000000054 3.5999999999786203e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.265122"/>
       <inertia ixx="0.000327222" ixy="-4.74606e-08" ixz="4.94571e-08" iyy="0.000248285" iyz="-4.29975e-06" izz="0.000150937"/>
     </inertial>
     <visual>
-      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1954,7 +1954,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1991,7 +1991,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.003500000000000003 0 -0.0605" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.003499999999999996 0 -0.0605" rpy="3.141592653589793 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2658,13 +2658,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2706,13 +2706,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2754,13 +2754,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2778,13 +2778,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2814,13 +2814,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2838,13 +2838,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2862,13 +2862,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -3004,24 +3004,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -3063,13 +3063,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
@@ -3087,178 +3087,178 @@
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07847939999999999 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
+      <pose>0.07847939999999998 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999999 -0.011812200000000009 -0.001214999999999966"/>
+    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999998 -0.011812200000000009 -0.001214999999999966"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012577000000000012 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.012577000000000005 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000012 -0.04040720000000002 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000005 -0.04040720000000002 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012575000000000003 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012574999999999996 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575000000000003 0.04040679999999998 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012574999999999996 0.04040679999999998 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013081000000000016 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.01308100000000001 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000016 -0.04040720000000002 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.01308100000000001 -0.04040720000000002 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013079 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.013078999999999993 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013079 0.04040679999999998 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999993 0.04040679999999998 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.042001689999999994 0.03156479999999999 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
+      <pose>0.04200169 0.03156479999999999 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.042001689999999994 0.03156479999999999 0.04913199999999998"/>
+    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.04200169 0.03156479999999999 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352114999999998 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352114999999999 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999998 0.007765700000000014 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999999 0.007765700000000014 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999998 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053784999999999986 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999998 -0.014429400000000002 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429400000000002 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.03412954999999998 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412954999999999 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999998 -0.0414999 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999999 -0.0414999 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.04378499999999999 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043785 0.017810999999999994 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999999 0.017810999999999994 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378500000000001 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.043785000000000004 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378500000000001 -0.014191800000000011 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785000000000004 -0.014191800000000011 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351379199999999 0.011314499999999963 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.043513791999999996 0.011314499999999963 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351379199999999 0.011314499999999963 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.043513791999999996 0.011314499999999963 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450335399999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.044503353999999995 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450335399999999 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503353999999995 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053133529999999984 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.05313352999999999 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133529999999984 0.017184099999999994 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313352999999999 0.017184099999999994 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
@@ -3276,25 +3276,25 @@
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915199999999996 0.04274479999999997 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.025915200000000003 0.04274479999999997 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915199999999996 0.04274479999999997 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.025915200000000003 0.04274479999999997 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999977 -0.041718700000000025 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
+      <pose>0.018459299999999984 -0.041718700000000025 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999977 -0.041718700000000025 -0.09295800000000004"/>
+    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999984 -0.041718700000000025 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
@@ -3368,45 +3368,45 @@
     <sensor name="l_upper_leg_ft_acc_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_acc_3b12" type="accelerometer">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_hip_2">
     <sensor name="l_upper_leg_ft_gyro_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_gyro_3b12" type="gyroscope">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_acc_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_acc_3b13" type="accelerometer">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_gyro_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_gyro_3b13" type="gyroscope">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
   </sensor>
   <gazebo>
     <pose>0.0 0.0 0.63 0.0 0.0 3.14</pose>
diff --git a/iCub/robots/iCubErzelli02/model.urdf b/iCub/robots/iCubErzelli02/model.urdf
new file mode 100644
index 0000000..bcb3414
--- /dev/null
+++ b/iCub/robots/iCubErzelli02/model.urdf
@@ -0,0 +1,3414 @@
+<robot name="iCub">
+  <link name="root_link">
+    <inertial>
+      <origin xyz="0.02488209999999999 0.00010394699999999017 -0.04408060000000001" rpy="1.5707963267948961 0 -1.5707963267948961"/>
+      <mass value="5.09143"/>
+      <inertia ixx="0.0139679" ixy="-5.93488e-06" ixz="-1.55458e-05" iyy="0.0202112" iyz="-0.00170968" izz="0.0249124"/>
+    </inertial>
+    <visual>
+      <origin xyz="-0.036399999999999995 0 0.032" rpy="1.5707963267948961 0 -1.5707963267948961"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_root_link_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="green">
+        <color rgba="0 1 0 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.036399999999999995 0 0.032" rpy="1.5707963267948961 0 -1.5707963267948961"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_root_link_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="r_hip_1">
+    <inertial>
+      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <mass value="0.919978"/>
+      <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
+    </inertial>
+    <visual>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0 0 0 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="r_hip_pitch" type="revolute">
+    <origin xyz="0.006451499999999992 0.025999999999999968 -0.11991299999999999" rpy="0 0 -3.141592653589793"/>
+    <axis xyz="-2.220446049250313e-16 -0.9999999999999998 0.0"/>
+    <parent link="root_link"/>
+    <child link="r_hip_1"/>
+    <limit effort="55.5" lower="-0.7853981633974483" upper="2.3387411976724017" velocity="5.1"/>
+    <dynamics damping="0.223" friction="0.0"/>
+  </joint>
+  <link name="r_hip_2">
+    <inertial>
+      <origin xyz="-0.0009315000000000018 8.09999999998312e-06 -0.04480899999999996" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <mass value="0.413242"/>
+      <inertia ixx="0.00046914" ixy="-4.76597e-08" ixz="7.12496e-08" iyy="0.000277108" iyz="3.3401e-06" izz="0.000303891"/>
+    </inertial>
+    <visual>
+      <origin xyz="0.04285149980937101 0.07010000000000424 0.15191299999996632" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1 0 0 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.04285149980937101 0.07010000000000424 0.15191299999996632" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="r_hip_roll" type="revolute">
+    <origin xyz="0 -0.04409999999999998 0" rpy="0 0 0"/>
+    <axis xyz="-0.9999999999999998 0.0 -2.220446049250313e-16"/>
+    <parent link="r_hip_1"/>
+    <child link="r_hip_2"/>
+    <limit effort="37.0" lower="-0.3490658503988659" upper="2.0943951023931953" velocity="7.64"/>
+    <dynamics damping="0.223" friction="0.0"/>
+  </joint>
+  <link name="r_hip_3">
+    <inertial>
+      <origin xyz="-0.00012300000000000505 -0.0002822999999999992 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <mass value="0.126212"/>
+      <inertia ixx="3.27938e-05" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="5.69957e-05" iyz="3.32338e-08" izz="3.26449e-05"/>
+    </inertial>
+    <visual>
+      <origin xyz="0.0437090152 -0.07009999189999992 -0.22621299999996644" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="blue">
+        <color rgba="0 0 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.0437090152 -0.07009999189999992 -0.22621299999996644" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="r_leg_ft_sensor" type="fixed">
+    <origin xyz="-0.0009362999999999941 1.3899999999969492e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <parent link="r_hip_2"/>
+    <child link="r_hip_3"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_upper_leg">
+    <inertial>
+      <origin xyz="0.0033999999999999933 -2.9100000000018e-05 -0.078954" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <mass value="1.8035"/>
+      <inertia ixx="0.006477514229987116" ixy="0.0001295794295884975" ixz="5.482050947393938e-06" iyy="0.0014593786411035647" iyz="-0.0001366130868747447" izz="0.006467208238130081"/>
+    </inertial>
+    <visual>
+      <origin xyz="0.0437090152 0.07009999190000003 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="yellow">
+        <color rgba="1 1 0 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.0437090152 0.07009999190000003 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="r_hip_yaw" type="revolute">
+    <origin xyz="0 0 0.014399999999999996" rpy="-3.141592653589793 0 0"/>
+    <axis xyz="0.0 -2.220446049250313e-16 -0.9999999999999998"/>
+    <parent link="r_hip_3"/>
+    <child link="r_upper_leg"/>
+    <limit effort="37.0" lower="-1.3962634015954636" upper="1.3962634015954636" velocity="7.64"/>
+    <dynamics damping="0.223" friction="0.0"/>
+  </joint>
+  <link name="r_upper_leg_back_contact"/>
+  <joint name="r_upper_leg_back_contact_fixed_joint" type="fixed">
+    <origin xyz="-0.051199800000000004 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <parent link="r_upper_leg"/>
+    <child link="r_upper_leg_back_contact"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_upper_leg_dh_frame"/>
+  <joint name="r_upper_leg_dh_frame_fixed_joint" type="fixed">
+    <origin xyz="0 0 -0.14582499999999995" rpy="1.5707963267948966 0 0"/>
+    <parent link="r_upper_leg"/>
+    <child link="r_upper_leg_dh_frame"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_lower_leg">
+    <inertial>
+      <origin xyz="0.0012363999999999917 -0.003513100000000033 -0.08879400000000004" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <mass value="1.472"/>
+      <inertia ixx="0.00423993167477533" ixy="0.00022881454885381036" ixz="-5.556464594531433e-05" iyy="0.0015209504344685463" iyz="-0.0002641329792432387" izz="0.004573585842061655"/>
+    </inertial>
+    <visual>
+      <origin xyz="0.0437090152 0.07009999200000007 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="pink">
+        <color rgba="1 0 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.0437090152 0.07009999200000007 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="r_knee" type="revolute">
+    <origin xyz="0 0 -0.14582499999999995" rpy="0 0 0"/>
+    <axis xyz="-2.220446049250313e-16 -0.9999999999999998 0.0"/>
+    <parent link="r_upper_leg"/>
+    <child link="r_lower_leg"/>
+    <limit effort="37.0" lower="-2.1642082724729685" upper="0.06981317007977318" velocity="7.64"/>
+    <dynamics damping="0.223" friction="0.0"/>
+  </joint>
+  <link name="r_lower_leg_skin_0"/>
+  <joint name="r_lower_leg_skin_0_fixed_joint" type="fixed">
+    <origin xyz="0.05441169999999998 -0.03121489999999999 -0.002634000000000025" rpy="2.0917380908554746e-06 -1.4153067624694633 2.48648458622082"/>
+    <parent link="r_lower_leg"/>
+    <child link="r_lower_leg_skin_0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_lower_leg_skin_3"/>
+  <joint name="r_lower_leg_skin_3_fixed_joint" type="fixed">
+    <origin xyz="0.05157878999999999 0.030420499999999996 -0.0028429999999999844" rpy="0 -1.4295105408285231 -2.3039148418553874"/>
+    <parent link="r_lower_leg"/>
+    <child link="r_lower_leg_skin_3"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_lower_leg_skin_4"/>
+  <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
+    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
+    <parent link="r_lower_leg"/>
+    <child link="r_lower_leg_skin_4"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_lower_leg_skin_5"/>
+  <joint name="r_lower_leg_skin_5_fixed_joint" type="fixed">
+    <origin xyz="0.06365039999999998 0.00030939999999998746 -0.0019720000000000293" rpy="0 -1.3865221506831833 -3.1414716980716264"/>
+    <parent link="r_lower_leg"/>
+    <child link="r_lower_leg_skin_5"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_lower_leg_skin_6"/>
+  <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
+    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
+    <parent link="r_lower_leg"/>
+    <child link="r_lower_leg_skin_6"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_lower_leg_skin_9"/>
+  <joint name="r_lower_leg_skin_9_fixed_joint" type="fixed">
+    <origin xyz="0.05982139999999998 0.01679719999999999 -0.03096199999999999" rpy="-3.1415920235620423 -1.3422475532506952 0.37929447771782354"/>
+    <parent link="r_lower_leg"/>
+    <child link="r_lower_leg_skin_9"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_lower_leg_skin_10"/>
+  <joint name="r_lower_leg_skin_10_fixed_joint" type="fixed">
+    <origin xyz="0.06446069999999998 0.00034239999999997883 -0.021204999999999974" rpy="3.141592653553929 -1.4709580354104241 0.00043002167526072775"/>
+    <parent link="r_lower_leg"/>
+    <child link="r_lower_leg_skin_10"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_lower_leg_skin_11"/>
+  <joint name="r_lower_leg_skin_11_fixed_joint" type="fixed">
+    <origin xyz="0.060710799999999975 -0.016091600000000025 -0.030884999999999996" rpy="-3.1415921825227295 -1.32811804060386 -0.27213836787954737"/>
+    <parent link="r_lower_leg"/>
+    <child link="r_lower_leg_skin_11"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_lower_leg_skin_14"/>
+  <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
+    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
+    <parent link="r_lower_leg"/>
+    <child link="r_lower_leg_skin_14"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_lower_leg_skin_15"/>
+  <joint name="r_lower_leg_skin_15_fixed_joint" type="fixed">
+    <origin xyz="0.05917079999999998 -0.016178800000000007 0.0072429999999999994" rpy="4.274842569949443e-07 -1.2520363307607896 2.8679885947088186"/>
+    <parent link="r_lower_leg"/>
+    <child link="r_lower_leg_skin_15"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_lower_leg_skin_16"/>
+  <joint name="r_lower_leg_skin_16_fixed_joint" type="fixed">
+    <origin xyz="0.027287599999999978 -0.050286899999999995 -0.004549000000000025" rpy="1.3307591512293707e-05 -1.5326085351498482 1.9628024283508803"/>
+    <parent link="r_lower_leg"/>
+    <child link="r_lower_leg_skin_16"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_lower_leg_skin_17"/>
+  <joint name="r_lower_leg_skin_17_fixed_joint" type="fixed">
+    <origin xyz="0.027874999999999976 -0.05031190000000001 -0.023882000000000014" rpy="-3.141564526201752 -1.563662402374811 -1.1802250875588731"/>
+    <parent link="r_lower_leg"/>
+    <child link="r_lower_leg_skin_17"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_lower_leg_skin_19"/>
+  <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
+    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
+    <parent link="r_lower_leg"/>
+    <child link="r_lower_leg_skin_19"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_lower_leg_skin_20"/>
+  <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
+    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
+    <parent link="r_lower_leg"/>
+    <child link="r_lower_leg_skin_20"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_lower_leg_skin_21"/>
+  <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
+    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
+    <parent link="r_lower_leg"/>
+    <child link="r_lower_leg_skin_21"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_lower_leg_skin_28"/>
+  <joint name="r_lower_leg_skin_28_fixed_joint" type="fixed">
+    <origin xyz="0.04087215999999998 -0.0424399 -0.03275600000000001" rpy="3.1415808886539165 -1.5225246216918655 -0.9296810297631274"/>
+    <parent link="r_lower_leg"/>
+    <child link="r_lower_leg_skin_28"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_lower_leg_skin_29"/>
+  <joint name="r_lower_leg_skin_29_fixed_joint" type="fixed">
+    <origin xyz="0.03846637999999998 -0.04351590000000001 -0.05242000000000002" rpy="3.1415801704422774 -1.5342984156258153 -0.9154363466305139"/>
+    <parent link="r_lower_leg"/>
+    <child link="r_lower_leg_skin_29"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_lower_leg_skin_31"/>
+  <joint name="r_lower_leg_skin_31_fixed_joint" type="fixed">
+    <origin xyz="0.03914639999999998 -0.042270899999999986 0.006327000000000027" rpy="-6.583817471389409e-07 -1.4186494462021593 2.2085303298592955"/>
+    <parent link="r_lower_leg"/>
+    <child link="r_lower_leg_skin_31"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_lower_leg_skin_32"/>
+  <joint name="r_lower_leg_skin_32_fixed_joint" type="fixed">
+    <origin xyz="0.045983029999999994 0.03258469999999997 -0.080733" rpy="-3.141590149878832 -1.5223828979770995 0.6459403808870791"/>
+    <parent link="r_lower_leg"/>
+    <child link="r_lower_leg_skin_32"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_lower_leg_skin_35"/>
+  <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
+    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
+    <parent link="r_lower_leg"/>
+    <child link="r_lower_leg_skin_35"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_lower_leg_skin_36"/>
+  <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
+    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
+    <parent link="r_lower_leg"/>
+    <child link="r_lower_leg_skin_36"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_lower_leg_skin_37"/>
+  <joint name="r_lower_leg_skin_37_fixed_joint" type="fixed">
+    <origin xyz="0.055257199999999985 0.0009643999999999764 -0.078318" rpy="-3.1415818045233417 -1.5231833689799856 0.007524505830633038"/>
+    <parent link="r_lower_leg"/>
+    <child link="r_lower_leg_skin_37"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_lower_leg_skin_38"/>
+  <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
+    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
+    <parent link="r_lower_leg"/>
+    <child link="r_lower_leg_skin_38"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_lower_leg_skin_41"/>
+  <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
+    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
+    <parent link="r_lower_leg"/>
+    <child link="r_lower_leg_skin_41"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_lower_leg_skin_42"/>
+  <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
+    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
+    <parent link="r_lower_leg"/>
+    <child link="r_lower_leg_skin_42"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_lower_leg_skin_43"/>
+  <joint name="r_lower_leg_skin_43_fixed_joint" type="fixed">
+    <origin xyz="0.04712543999999999 0.03236529999999998 -0.06136200000000003" rpy="-3.1415913662061943 -1.5384303823718677 0.6242175236666732"/>
+    <parent link="r_lower_leg"/>
+    <child link="r_lower_leg_skin_43"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_lower_leg_skin_46"/>
+  <joint name="r_lower_leg_skin_46_fixed_joint" type="fixed">
+    <origin xyz="0.05581569999999999 0.01721639999999998 -0.05018" rpy="-3.141589878093782 -1.4275988160283246 0.3256077108756132"/>
+    <parent link="r_lower_leg"/>
+    <child link="r_lower_leg_skin_46"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_lower_leg_skin_47"/>
+  <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
+    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
+    <parent link="r_lower_leg"/>
+    <child link="r_lower_leg_skin_47"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_lower_leg_skin_49"/>
+  <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
+    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
+    <parent link="r_lower_leg"/>
+    <child link="r_lower_leg_skin_49"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_lower_leg_skin_50"/>
+  <joint name="r_lower_leg_skin_50_fixed_joint" type="fixed">
+    <origin xyz="0.04301696299999999 0.03252729999999997 -0.11946899999999999" rpy="3.1415906959631426 -1.4990073263616448 0.6957840200808761"/>
+    <parent link="r_lower_leg"/>
+    <child link="r_lower_leg_skin_50"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_lower_leg_skin_51"/>
+  <joint name="r_lower_leg_skin_51_fixed_joint" type="fixed">
+    <origin xyz="0.05141583999999999 0.01775899999999997 -0.10820600000000002" rpy="-3.141588901786459 -1.5062847571686897 0.27207993571349487"/>
+    <parent link="r_lower_leg"/>
+    <child link="r_lower_leg_skin_51"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_lower_leg_skin_52"/>
+  <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
+    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
+    <parent link="r_lower_leg"/>
+    <child link="r_lower_leg_skin_52"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_lower_leg_skin_53"/>
+  <joint name="r_lower_leg_skin_53_fixed_joint" type="fixed">
+    <origin xyz="0.05207313999999998 -0.015433900000000028 -0.10765399999999997" rpy="3.1415906398667093 -1.5059530744712215 -0.21140732289166783"/>
+    <parent link="r_lower_leg"/>
+    <child link="r_lower_leg_skin_53"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_lower_leg_skin_54"/>
+  <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
+    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
+    <parent link="r_lower_leg"/>
+    <child link="r_lower_leg_skin_54"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_lower_leg_skin_55"/>
+  <joint name="r_lower_leg_skin_55_fixed_joint" type="fixed">
+    <origin xyz="0.04350267899999998 -0.030488900000000027 -0.13814300000000007" rpy="3.1415890648626297 -1.4899578703820784 -0.5972199437885269"/>
+    <parent link="r_lower_leg"/>
+    <child link="r_lower_leg_skin_55"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_lower_leg_skin_56"/>
+  <joint name="r_lower_leg_skin_56_fixed_joint" type="fixed">
+    <origin xyz="0.049268409999999985 -0.015121000000000037 -0.1462179999999999" rpy="-3.141589204039199 -1.491248198275157 -0.22348447640041147"/>
+    <parent link="r_lower_leg"/>
+    <child link="r_lower_leg_skin_56"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_lower_leg_skin_60"/>
+  <joint name="r_lower_leg_skin_60_fixed_joint" type="fixed">
+    <origin xyz="0.04836967999999999 0.018055999999999968 -0.14693799999999996" rpy="-3.141591733372508 -1.4898596852742692 0.3029518719544257"/>
+    <parent link="r_lower_leg"/>
+    <child link="r_lower_leg_skin_60"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_lower_leg_skin_61"/>
+  <joint name="r_lower_leg_skin_61_fixed_joint" type="fixed">
+    <origin xyz="0.051619539999999985 0.0014265999999999723 -0.13616899999999993" rpy="-3.141591009251115 -1.4960209708613401 0.013201427520491136"/>
+    <parent link="r_lower_leg"/>
+    <child link="r_lower_leg_skin_61"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_ankle_1">
+    <inertial>
+      <origin xyz="0.01514359999999999 -0.000868600000000011 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <mass value="0.6803"/>
+      <inertia ixx="0.0004046188489317631" ixy="7.498192869450776e-07" ixz="-3.013494676905822e-05" iyy="0.00044863365466369986" iyz="2.5726697409005395e-06" izz="0.00030823593913944066"/>
+    </inertial>
+    <visual>
+      <origin xyz="0.0437090152 0.07009999200000011 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="cyan">
+        <color rgba="0 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.0437090152 0.07009999200000011 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="r_ankle_pitch" type="revolute">
+    <origin xyz="0 0 -0.20049999999999996" rpy="0 0 0"/>
+    <axis xyz="2.220446049250313e-16 0.9999999999999998 0.0"/>
+    <parent link="r_lower_leg"/>
+    <child link="r_ankle_1"/>
+    <limit effort="37.0" lower="-0.6108652381980153" upper="0.6108652381980153" velocity="7.64"/>
+    <dynamics damping="0.223" friction="0.0"/>
+  </joint>
+  <link name="r_ankle_2">
+    <inertial>
+      <origin xyz="0.0011445999999999956 3.599999999992498e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <mass value="0.265122"/>
+      <inertia ixx="0.000327222" ixy="-4.74606e-08" ixz="4.94571e-08" iyy="0.000248285" iyz="-4.29975e-06" izz="0.000150937"/>
+    </inertial>
+    <visual>
+      <origin xyz="0.043787799618642 0.07008610019070811 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="green">
+        <color rgba="0 1 0 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.043787799618642 0.07008610019070811 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="r_ankle_roll" type="revolute">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <axis xyz="-0.9999999999999998 0.0 -2.220446049250313e-16"/>
+    <parent link="r_ankle_1"/>
+    <child link="r_ankle_2"/>
+    <limit effort="37.0" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="7.64"/>
+    <dynamics damping="0.223" friction="0.0"/>
+  </joint>
+  <link name="r_foot">
+    <inertial>
+      <origin xyz="0.03360009999999998 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <mass value="0.382866"/>
+      <inertia ixx="0.00120946" ixy="3.74585e-07" ixz="-5.78759e-05" iyy="0.00141439" iyz="-7.80325e-06" izz="0.000273599"/>
+    </inertial>
+    <visual>
+      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="r_foot_ft_sensor" type="fixed">
+    <origin xyz="-0.003500000000000003 0 -0.0605" rpy="3.141592653589793 0 0"/>
+    <parent link="r_ankle_2"/>
+    <child link="r_foot"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_sole"/>
+  <joint name="r_sole_fixed_joint" type="fixed">
+    <origin xyz="0.003499999999999996 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
+    <parent link="r_foot"/>
+    <child link="r_sole"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_sole_skin_0"/>
+  <joint name="r_sole_skin_0_fixed_joint" type="fixed">
+    <origin xyz="0.06047669999999999 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
+    <parent link="r_foot"/>
+    <child link="r_sole_skin_0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_sole_skin_1"/>
+  <joint name="r_sole_skin_1_fixed_joint" type="fixed">
+    <origin xyz="0.07885119999999998 -0.019440400000000004 0.007500000000000062" rpy="0 0 0"/>
+    <parent link="r_foot"/>
+    <child link="r_sole_skin_1"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_sole_skin_2"/>
+  <joint name="r_sole_skin_2_fixed_joint" type="fixed">
+    <origin xyz="0.09320869999999998 -0.032368 0.007500000000000062" rpy="0 0 0"/>
+    <parent link="r_foot"/>
+    <child link="r_sole_skin_2"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_sole_skin_3"/>
+  <joint name="r_sole_skin_3_fixed_joint" type="fixed">
+    <origin xyz="0.11158309999999996 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
+    <parent link="r_foot"/>
+    <child link="r_sole_skin_3"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_sole_skin_4"/>
+  <joint name="r_sole_skin_4_fixed_joint" type="fixed">
+    <origin xyz="0.11559999999999998 -0.007499999999999993 0.007500000000000062" rpy="0 0 0"/>
+    <parent link="r_foot"/>
+    <child link="r_sole_skin_4"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_sole_skin_8"/>
+  <joint name="r_sole_skin_8_fixed_joint" type="fixed">
+    <origin xyz="0.10525929999999997 0.024325399999999997 0.007500000000000062" rpy="0 0 0"/>
+    <parent link="r_foot"/>
+    <child link="r_sole_skin_8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_sole_skin_9"/>
+  <joint name="r_sole_skin_9_fixed_joint" type="fixed">
+    <origin xyz="0.09090169999999997 0.03725289999999999 0.007500000000000062" rpy="0 0 0"/>
+    <parent link="r_foot"/>
+    <child link="r_sole_skin_9"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_sole_skin_10"/>
+  <joint name="r_sole_skin_10_fixed_joint" type="fixed">
+    <origin xyz="0.07252729999999998 0.03128289999999999 0.007500000000000062" rpy="0 0 0"/>
+    <parent link="r_foot"/>
+    <child link="r_sole_skin_10"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_sole_skin_11"/>
+  <joint name="r_sole_skin_11_fixed_joint" type="fixed">
+    <origin xyz="0.06851049999999997 0.012385000000000007 0.007500000000000062" rpy="0 0 0"/>
+    <parent link="r_foot"/>
+    <child link="r_sole_skin_11"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_sole_skin_12"/>
+  <joint name="r_sole_skin_12_fixed_joint" type="fixed">
+    <origin xyz="0.08286799999999997 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
+    <parent link="r_foot"/>
+    <child link="r_sole_skin_12"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_sole_skin_13"/>
+  <joint name="r_sole_skin_13_fixed_joint" type="fixed">
+    <origin xyz="0.10124239999999997 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
+    <parent link="r_foot"/>
+    <child link="r_sole_skin_13"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_sole_skin_14"/>
+  <joint name="r_sole_skin_14_fixed_joint" type="fixed">
+    <origin xyz="0.05013603999999998 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <parent link="r_foot"/>
+    <child link="r_sole_skin_14"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_sole_skin_15"/>
+  <joint name="r_sole_skin_15_fixed_joint" type="fixed">
+    <origin xyz="0.046119189999999984 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
+    <parent link="r_foot"/>
+    <child link="r_sole_skin_15"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_sole_skin_17"/>
+  <joint name="r_sole_skin_17_fixed_joint" type="fixed">
+    <origin xyz="-0.029685499999999997 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
+    <parent link="r_foot"/>
+    <child link="r_sole_skin_17"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_sole_skin_18"/>
+  <joint name="r_sole_skin_18_fixed_joint" type="fixed">
+    <origin xyz="-0.04805990000000001 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
+    <parent link="r_foot"/>
+    <child link="r_sole_skin_18"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_sole_skin_19"/>
+  <joint name="r_sole_skin_19_fixed_joint" type="fixed">
+    <origin xyz="-0.05207670000000001 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
+    <parent link="r_foot"/>
+    <child link="r_sole_skin_19"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_sole_skin_20"/>
+  <joint name="r_sole_skin_20_fixed_joint" type="fixed">
+    <origin xyz="-0.037719200000000015 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
+    <parent link="r_foot"/>
+    <child link="r_sole_skin_20"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_sole_skin_21"/>
+  <joint name="r_sole_skin_21_fixed_joint" type="fixed">
+    <origin xyz="0.03577849999999998 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
+    <parent link="r_foot"/>
+    <child link="r_sole_skin_21"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_sole_skin_22"/>
+  <joint name="r_sole_skin_22_fixed_joint" type="fixed">
+    <origin xyz="0.02774479999999999 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
+    <parent link="r_foot"/>
+    <child link="r_sole_skin_22"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_sole_skin_24"/>
+  <joint name="r_sole_skin_24_fixed_joint" type="fixed">
+    <origin xyz="-0.004987200000000004 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
+    <parent link="r_foot"/>
+    <child link="r_sole_skin_24"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_sole_skin_25"/>
+  <joint name="r_sole_skin_25_fixed_joint" type="fixed">
+    <origin xyz="0.013387199999999995 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
+    <parent link="r_foot"/>
+    <child link="r_sole_skin_25"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_sole_skin_26"/>
+  <joint name="r_sole_skin_26_fixed_joint" type="fixed">
+    <origin xyz="0.017404099999999985 0.0133722 0.007500000000000062" rpy="0 0 0"/>
+    <parent link="r_foot"/>
+    <child link="r_sole_skin_26"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_sole_skin_27"/>
+  <joint name="r_sole_skin_27_fixed_joint" type="fixed">
+    <origin xyz="0.0030464999999999798 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <parent link="r_foot"/>
+    <child link="r_sole_skin_27"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_sole_skin_28"/>
+  <joint name="r_sole_skin_28_fixed_joint" type="fixed">
+    <origin xyz="-0.015327899999999998 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
+    <parent link="r_foot"/>
+    <child link="r_sole_skin_28"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_sole_skin_29"/>
+  <joint name="r_sole_skin_29_fixed_joint" type="fixed">
+    <origin xyz="-0.019344800000000002 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
+    <parent link="r_foot"/>
+    <child link="r_sole_skin_29"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="torso_1">
+    <inertial>
+      <origin xyz="0.027092135899999998 0.02914798 -0.00043979999999999714" rpy="0 0 0"/>
+      <mass value="0.67144"/>
+      <inertia ixx="0.00040911" ixy="-1.04522e-06" ixz="-1.02516e-06" iyy="0.000384141" iyz="6.50708e-06" izz="0.000299445"/>
+    </inertial>
+    <visual>
+      <origin xyz="0.027046299809264998 0.03199999999999968 0.036400000000000286" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_lap_belt_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="dblue">
+        <color rgba="0 0 0.8 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.027046299809264998 0.03199999999999968 0.036400000000000286" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_lap_belt_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="torso_pitch" type="revolute">
+    <origin xyz="0 0.027046299999999992 0" rpy="1.5707963267948961 0 -1.5707963267948961"/>
+    <axis xyz="1.0 0.0 0.0"/>
+    <parent link="root_link"/>
+    <child link="torso_1"/>
+    <limit effort="50000" lower="-0.3490658503988659" upper="1.2217304763960306" velocity="50000"/>
+    <dynamics damping="0.06" friction="0.0"/>
+  </joint>
+  <link name="torso_2">
+    <inertial>
+      <origin xyz="-0.00011350780926499999 0.036152500000000004 0.05709630000000001" rpy="0 0 0"/>
+      <mass value="0.425685"/>
+      <inertia ixx="0.000829234" ixy="2.37006e-08" ixz="9.25231e-08" iyy="0.000436517" iyz="-1.74814e-07" izz="0.000604802"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0.1433 0.03865310000000001" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_lap_belt_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="dgreen">
+        <color rgba="0.1 0.8 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0.1433 0.03865310000000001" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_lap_belt_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="torso_roll" type="revolute">
+    <origin xyz="0.027046299809264998 0.032 -0.05734460000000001" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 -1.0"/>
+    <parent link="torso_1"/>
+    <child link="torso_2"/>
+    <limit effort="50000" lower="-0.5235987755982988" upper="0.5235987755982988" velocity="50000"/>
+    <dynamics damping="0.06" friction="0.0"/>
+  </joint>
+  <link name="chest">
+    <inertial>
+      <origin xyz="0.000188619190735 0.07309099999999999 -0.047238100000000005" rpy="0 0 0"/>
+      <mass value="7.638"/>
+      <inertia ixx="0.043032487861801666" ixy="2.9107538880437883e-05" ixz="0.00018198522994852988" iyy="0.04408357255482159" iyz="-0.0004291064091076428" izz="0.026056324991143805"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0.09280000000000001 -0.024189000000000002" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_chest_bb_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="gray">
+        <color rgba="0.5 0.5 0.5 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0.09280000000000001 -0.024189000000000002" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_chest_bb_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="torso_yaw" type="revolute">
+    <origin xyz="0 0.05 0.06284210000000001" rpy="0 0 0"/>
+    <axis xyz="0.0 -1.0 0.0"/>
+    <parent link="torso_2"/>
+    <child link="chest"/>
+    <limit effort="50000" lower="-0.8726646259971648" upper="0.8726646259971648" velocity="50000"/>
+    <dynamics damping="0.06" friction="0.0"/>
+  </joint>
+  <link name="neck_1">
+    <inertial>
+      <origin xyz="0.0143705608 0.006567000000000017 -0.006384200000000003" rpy="0 0 0"/>
+      <mass value="0.125793"/>
+      <inertia ixx="4.0647e-05" ixy="8.09156e-08" ixz="-3.74998e-08" iyy="3.881e-05" iyz="9.39717e-06" izz="4.7535e-05"/>
+    </inertial>
+    <visual>
+      <origin xyz="0.014299999809265 -0.07999699999999998 -0.029500800000000004" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_neck_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="green">
+        <color rgba="0 1 0 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.014299999809265 -0.07999699999999998 -0.029500800000000004" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_neck_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="neck_pitch" type="revolute">
+    <origin xyz="-0.014299999809265 0.17279699999999998 0.005311800000000002" rpy="0 0 0"/>
+    <axis xyz="-1.0 0.0 0.0"/>
+    <parent link="chest"/>
+    <child link="neck_1"/>
+    <limit effort="50000" lower="-0.6981317007977318" upper="0.3839724354387525" velocity="50000"/>
+    <dynamics damping="0.06" friction="0.0"/>
+  </joint>
+  <link name="neck_2">
+    <inertial>
+      <origin xyz="-8.8573009265e-05 0.03522499999999998 -0.01954527" rpy="0 0 0"/>
+      <mass value="0.177087"/>
+      <inertia ixx="0.000117943" ixy="-5.25591e-07" ixz="4.68307e-07" iyy="4.04013e-05" iyz="9.81476e-06" izz="0.000105186"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 -0.089497 -0.05030077" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_neck_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0 0 0 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 -0.089497 -0.05030077" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_neck_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="neck_roll" type="revolute">
+    <origin xyz="0.014299999809265 0.009500000000000008 0.020799969999999997" rpy="0 0 0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <parent link="neck_1"/>
+    <child link="neck_2"/>
+    <limit effort="50000" lower="-0.3490658503988659" upper="0.3490658503988659" velocity="50000"/>
+    <dynamics damping="0.06" friction="0.0"/>
+  </joint>
+  <link name="head">
+    <inertial>
+      <origin xyz="-0.000574157809265 0.11351100000000003 -0.007539199999999999" rpy="0 0 0"/>
+      <mass value="1.50691"/>
+      <inertia ixx="0.00680478" ixy="-1.60267e-05" ixz="7.28166e-05" iyy="0.00634736" iyz="0.000292091" izz="0.00478116"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 -0.06715299999999999 -0.029500800000000004" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_head_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1 0 0 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 -0.06715299999999999 -0.029500800000000004" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_head_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="neck_yaw" type="revolute">
+    <origin xyz="0 -0.022344000000000003 -0.020799969999999997" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <parent link="neck_2"/>
+    <child link="head"/>
+    <limit effort="50000" lower="-0.8726646259971648" upper="0.8726646259971648" velocity="50000"/>
+    <dynamics damping="0.06" friction="0.0"/>
+  </joint>
+  <link name="imu_frame"/>
+  <joint name="imu_frame_fixed_joint" type="fixed">
+    <origin xyz="0.009500000190735 0.133444 0.009299999999999996" rpy="-1.5707963267948961 1.570796326794896 0"/>
+    <parent link="head"/>
+    <child link="imu_frame"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_shoulder_1">
+    <inertial>
+      <origin xyz="-0.012265601413295815 3.200000000000425e-05 -0.003210642904490607" rpy="0 0 0"/>
+      <mass value="0.114862"/>
+      <inertia ixx="2.24541e-05" ixy="-1.65173e-08" ixz="-3.55626e-06" iyy="2.29582e-05" iyz="-6.13337e-08" izz="1.00116e-05"/>
+    </inertial>
+    <visual>
+      <origin xyz="0.09900792530759175 0 -0.026529248755802246" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="blue">
+        <color rgba="0 0 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.09900792530759175 0 -0.026529248755802246" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="r_shoulder_pitch" type="revolute">
+    <origin xyz="-0.12001599980926501 0.09280000000000001 0.007969299999999999" rpy="0 -0.523598883792035 3.141592653589793"/>
+    <axis xyz="-0.965925926173269 0.0 0.25881927552505174"/>
+    <parent link="chest"/>
+    <child link="r_shoulder_1"/>
+    <limit effort="50000" lower="-1.6667894356545847" upper="0.17453292519943295" velocity="50000"/>
+    <dynamics damping="0.06" friction="0.0"/>
+  </joint>
+  <link name="r_shoulder_2">
+    <inertial>
+      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
+      <mass value="0.238162"/>
+      <inertia ixx="0.000158626" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.000206526" iyz="1.19785e-06" izz="0.000104956"/>
+    </inertial>
+    <visual>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="yellow">
+        <color rgba="1 1 0 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="r_shoulder_roll" type="revolute">
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
+    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
+    <parent link="r_shoulder_1"/>
+    <child link="r_shoulder_2"/>
+    <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
+    <dynamics damping="0.06" friction="0.0"/>
+  </joint>
+  <link name="r_shoulder_3">
+    <inertial>
+      <origin xyz="-0.026762076687111974 -6.999999999979245e-06 0.014699920771321831" rpy="0 0 0"/>
+      <mass value="0.35913"/>
+      <inertia ixx="0.000142333" ixy="3.60361e-07" ixz="4.94445e-05" iyy="0.000197746" iyz="2.65919e-07" izz="0.000151821"/>
+    </inertial>
+    <visual>
+      <origin xyz="0.13193387916408805 0 -0.03535156676465449" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_upper_arm_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="pink">
+        <color rgba="1 0 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.13193387916408805 0 -0.03535156676465449" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_upper_arm_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="r_shoulder_yaw" type="revolute">
+    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
+    <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
+    <parent link="r_shoulder_2"/>
+    <child link="r_shoulder_3"/>
+    <limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
+    <dynamics damping="0.06" friction="0.0"/>
+  </joint>
+  <link name="r_upper_arm">
+    <inertial>
+      <origin xyz="-0.006087 0.0001260000000000011 0.029312099999999987" rpy="0 1.30899700696774 0"/>
+      <mass value="0.745104"/>
+      <inertia ixx="0.000509527" ixy="1.19292e-06" ixz="-1.17426e-05" iyy="0.000668487" iyz="1.13363e-06" izz="0.000599254"/>
+    </inertial>
+    <visual>
+      <origin xyz="-0.014999999999999994 0 -0.19329999999999997" rpy="0 1.30899700696774 0"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="cyan">
+        <color rgba="0 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.014999999999999994 0 -0.19329999999999997" rpy="0 1.30899700696774 0"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="r_arm_ft_sensor" type="fixed">
+    <origin xyz="-0.05089730176650909 0 0.029167029620599215" rpy="0 -1.3089970069677397 0"/>
+    <parent link="r_shoulder_3"/>
+    <child link="r_upper_arm"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_elbow_1">
+    <inertial>
+      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
+      <mass value="0.267903"/>
+      <inertia ixx="8.13344e-05" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="5.86947e-05" iyz="3.92498e-06" izz="9.68353e-05"/>
+    </inertial>
+    <visual>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="green">
+        <color rgba="0 1 0 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="r_elbow" type="revolute">
+    <origin xyz="0 -0.022499900000000003 0.07925999999999998" rpy="0 1.3089970069677397 0"/>
+    <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
+    <parent link="r_upper_arm"/>
+    <child link="r_elbow_1"/>
+    <limit effort="50000" lower="0.2617993877991494" upper="1.8500490071139892" velocity="50000"/>
+    <dynamics damping="0.06" friction="0.0"/>
+  </joint>
+  <link name="r_forearm">
+    <inertial>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
+      <mass value="0.6347"/>
+      <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
+    </inertial>
+    <visual>
+      <origin xyz="0.29688696737542175 0 -0.07955060152271212" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_forearm_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.29688696737542175 0 -0.07955060152271212" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_forearm_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="r_wrist_prosup" type="revolute">
+    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
+    <parent link="r_elbow_1"/>
+    <child link="r_forearm"/>
+    <limit effort="50000" lower="-1.0471975511965976" upper="1.0471975511965976" velocity="50000"/>
+    <dynamics damping="0.06" friction="0.0"/>
+  </joint>
+  <link name="r_forearm_skin_0"/>
+  <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <parent link="r_forearm"/>
+    <child link="r_forearm_skin_0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_forearm_skin_1"/>
+  <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
+    <parent link="r_forearm"/>
+    <child link="r_forearm_skin_1"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_forearm_skin_2"/>
+  <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <parent link="r_forearm"/>
+    <child link="r_forearm_skin_2"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_forearm_skin_3"/>
+  <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
+    <parent link="r_forearm"/>
+    <child link="r_forearm_skin_3"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_forearm_skin_4"/>
+  <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
+    <parent link="r_forearm"/>
+    <child link="r_forearm_skin_4"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_forearm_skin_5"/>
+  <joint name="r_forearm_skin_5_fixed_joint" type="fixed">
+    <origin xyz="-0.06882119419679653 -0.0179483 -0.023113336179072505" rpy="-2.541047580603648 -0.38562726064167885 3.0548698966694605"/>
+    <parent link="r_forearm"/>
+    <child link="r_forearm_skin_5"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_forearm_skin_6"/>
+  <joint name="r_forearm_skin_6_fixed_joint" type="fixed">
+    <origin xyz="-0.033394843625473715 -0.029547900000000002 -0.019832558343293956" rpy="-1.8662816465326075 -0.27288633618099856 3.104485850211511"/>
+    <parent link="r_forearm"/>
+    <child link="r_forearm_skin_6"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_forearm_skin_7"/>
+  <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
+    <parent link="r_forearm"/>
+    <child link="r_forearm_skin_7"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_forearm_skin_8"/>
+  <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
+    <parent link="r_forearm"/>
+    <child link="r_forearm_skin_8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_forearm_skin_9"/>
+  <joint name="r_forearm_skin_9_fixed_joint" type="fixed">
+    <origin xyz="-0.03760327346828466 -0.018955000000000014 -0.03401633711864639" rpy="-2.5840651770760545 -0.2933217195995048 3.121284073962177"/>
+    <parent link="r_forearm"/>
+    <child link="r_forearm_skin_9"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_forearm_skin_10"/>
+  <joint name="r_forearm_skin_10_fixed_joint" type="fixed">
+    <origin xyz="-0.05422852108875307 -0.009786099999999992 -0.03214690828659369" rpy="-2.94123313405522 -0.32830447192219026 3.12762637539622"/>
+    <parent link="r_forearm"/>
+    <child link="r_forearm_skin_10"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_forearm_skin_11"/>
+  <joint name="r_forearm_skin_11_fixed_joint" type="fixed">
+    <origin xyz="-0.05422409120236691 0.00904300000000001 -0.03214312594517525" rpy="2.9392983595663433 -0.3291013897448521 -3.127319164460641"/>
+    <parent link="r_forearm"/>
+    <child link="r_forearm_skin_11"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_forearm_skin_12"/>
+  <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
+    <parent link="r_forearm"/>
+    <child link="r_forearm_skin_12"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_forearm_skin_13"/>
+  <joint name="r_forearm_skin_13_fixed_joint" type="fixed">
+    <origin xyz="-0.022855086840518728 0.009047999999999987 -0.04189190092085042" rpy="2.948966791979468 -0.27058394718877915 -3.1398188035221444"/>
+    <parent link="r_forearm"/>
+    <child link="r_forearm_skin_13"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_forearm_skin_14"/>
+  <joint name="r_forearm_skin_14_fixed_joint" type="fixed">
+    <origin xyz="-0.06877032763640067 0.01716000000000001 -0.02302395585107192" rpy="2.480449918677725 -0.29554256628052245 -2.918773491387445"/>
+    <parent link="r_forearm"/>
+    <child link="r_forearm_skin_14"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_forearm_skin_15"/>
+  <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <parent link="r_forearm"/>
+    <child link="r_forearm_skin_15"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_forearm_skin_16"/>
+  <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
+    <parent link="r_forearm"/>
+    <child link="r_forearm_skin_16"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_forearm_skin_17"/>
+  <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
+    <parent link="r_forearm"/>
+    <child link="r_forearm_skin_17"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_forearm_skin_19"/>
+  <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
+    <parent link="r_forearm"/>
+    <child link="r_forearm_skin_19"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_forearm_skin_22"/>
+  <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <parent link="r_forearm"/>
+    <child link="r_forearm_skin_22"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_forearm_skin_24"/>
+  <joint name="r_forearm_skin_24_fixed_joint" type="fixed">
+    <origin xyz="-0.07003453195640522 -0.009716399999999986 0.05006910871401307" rpy="-0.23489327644017136 -0.03881729939817664 3.0867634545899256"/>
+    <parent link="r_forearm"/>
+    <child link="r_forearm_skin_24"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_forearm_skin_25"/>
+  <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
+    <parent link="r_forearm"/>
+    <child link="r_forearm_skin_25"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_forearm_skin_28"/>
+  <joint name="r_forearm_skin_28_fixed_joint" type="fixed">
+    <origin xyz="-0.05358592721475829 0.01741200000000001 0.04535203739698063" rpy="0.5907706440800042 -0.05316072260629339 3.1059708116712708"/>
+    <parent link="r_forearm"/>
+    <child link="r_forearm_skin_28"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_forearm_skin_29"/>
+  <joint name="r_forearm_skin_29_fixed_joint" type="fixed">
+    <origin xyz="-0.07003558050313372 0.008954000000000018 0.05001110362329029" rpy="0.24863098220864202 -0.03831365567858803 -3.0832899911631824"/>
+    <parent link="r_forearm"/>
+    <child link="r_forearm_skin_29"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_forearm_dh_frame"/>
+  <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
+    <parent link="r_forearm"/>
+    <child link="r_forearm_dh_frame"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="r_wrist_1">
+    <inertial>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
+      <mass value="0.0362615"/>
+      <inertia ixx="5.57722e-06" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="5.29845e-06" iyz="-1.59685e-07" izz="1.87724e-06"/>
+    </inertial>
+    <visual>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="dblue">
+        <color rgba="0 0 0.8 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="r_wrist_pitch" type="revolute">
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
+    <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
+    <parent link="r_forearm"/>
+    <child link="r_wrist_1"/>
+    <limit effort="50000" lower="-1.3962634015954636" upper="0.4363323129985824" velocity="50000"/>
+    <dynamics damping="0.06" friction="0.0"/>
+  </joint>
+  <link name="r_hand">
+    <inertial>
+      <origin xyz="-0.0646681637170268 0.005600200000000041 0.022681294091780244" rpy="0 0 0"/>
+      <mass value="0.248289"/>
+      <inertia ixx="0.000162381" ixy="-2.3536e-06" ixz="3.61526e-05" iyy="0.00043138" iyz="2.07146e-05" izz="0.00030575"/>
+    </inertial>
+    <visual>
+      <origin xyz="0.39975806974880285 0.019492899999999924 -0.1071148228337768" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hand_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="dgreen">
+        <color rgba="0.1 0.8 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.39975806974880285 0.019492899999999924 -0.1071148228337768" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hand_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="r_wrist_yaw" type="revolute">
+    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
+    <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
+    <parent link="r_wrist_1"/>
+    <child link="r_hand"/>
+    <limit effort="50000" lower="-0.3490658503988659" upper="0.4363323129985824" velocity="50000"/>
+    <dynamics damping="0.06" friction="0.0"/>
+  </joint>
+  <link name="r_hand_dh_frame"/>
+  <joint name="r_hand_dh_frame_fixed_joint" type="fixed">
+    <origin xyz="-0.05765429784284365 -0.005556799999999987 0.013693832308330513" rpy="-1.5707963267948963 -0.2617993198271562 3.141592653589793"/>
+    <parent link="r_hand"/>
+    <child link="r_hand_dh_frame"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_shoulder_1">
+    <inertial>
+      <origin xyz="-0.008985000000000007 -3.300000000000525e-05 -0.0088998" rpy="0 0 0"/>
+      <mass value="0.114882"/>
+      <inertia ixx="2.24676e-05" ixy="-1.77064e-08" ixz="3.55951e-06" iyy="2.29712e-05" iyz="6.57597e-08" izz="1.00139e-05"/>
+    </inertial>
+    <visual>
+      <origin xyz="-0.12025748200000001 0 -0.032223" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="gray">
+        <color rgba="0.5 0.5 0.5 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.12025748200000001 0 -0.032223" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="l_shoulder_pitch" type="revolute">
+    <origin xyz="0.12001600019073501 0.09280000000000001 0.007969299999999999" rpy="0 0 0"/>
+    <axis xyz="0.965926 0.0 0.258819"/>
+    <parent link="chest"/>
+    <child link="l_shoulder_1"/>
+    <limit effort="50000" lower="-1.6667894356545847" upper="0.17453292519943295" velocity="50000"/>
+    <dynamics damping="0.06" friction="0.0"/>
+  </joint>
+  <link name="l_shoulder_2">
+    <inertial>
+      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
+      <mass value="0.238162"/>
+      <inertia ixx="0.000159621" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.000222574" iyz="1.20112e-06" izz="0.000120056"/>
+    </inertial>
+    <visual>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="green">
+        <color rgba="0 1 0 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="l_shoulder_roll" type="revolute">
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
+    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
+    <parent link="l_shoulder_1"/>
+    <child link="l_shoulder_2"/>
+    <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
+    <dynamics damping="0.06" friction="0.0"/>
+  </joint>
+  <link name="l_shoulder_3">
+    <inertial>
+      <origin xyz="0.026798412222026474 -1.5999999999988246e-05 0.014695680617730612" rpy="0 0 0"/>
+      <mass value="0.35913"/>
+      <inertia ixx="0.00014245" ixy="-2.22441e-07" ixz="-4.95846e-05" iyy="0.000197807" iyz="1.07538e-07" izz="0.000151706"/>
+    </inertial>
+    <visual>
+      <origin xyz="-0.1319010376853961 0 -0.03534276691935331" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_arm_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0 0 0 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.1319010376853961 0 -0.03534276691935331" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_arm_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="l_shoulder_yaw" type="revolute">
+    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
+    <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
+    <parent link="l_shoulder_2"/>
+    <child link="l_shoulder_3"/>
+    <limit effort="50000" lower="-0.6457718232379019" upper="1.3962634015954636" velocity="50000"/>
+    <dynamics damping="0.06" friction="0.0"/>
+  </joint>
+  <link name="l_upper_arm">
+    <inertial>
+      <origin xyz="-0.006120999999999996 -0.00018899999999999473 0.02936839999999999" rpy="0 -1.30899700696774 -3.1415926535897922"/>
+      <mass value="0.746799"/>
+      <inertia ixx="0.000509731" ixy="-6.90767e-07" ixz="1.20048e-05" iyy="0.00067086" iyz="3.11833e-06" izz="0.000601202"/>
+    </inertial>
+    <visual>
+      <origin xyz="-0.014999999999999994 0 -0.19329999999999997" rpy="0 -1.30899700696774 -3.1415926535897922"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_elbow_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1 0 0 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.014999999999999994 0 -0.19329999999999997" rpy="0 -1.30899700696774 -3.1415926535897922"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_elbow_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="l_arm_ft_sensor" type="fixed">
+    <origin xyz="0.05093014324520106 0 0.029175829465900395" rpy="0 -1.3089970069677395 3.1415926535897927"/>
+    <parent link="l_shoulder_3"/>
+    <child link="l_upper_arm"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_elbow_1">
+    <inertial>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
+      <mass value="0.267903"/>
+      <inertia ixx="8.13352e-05" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="5.86823e-05" iyz="3.9319e-06" izz="9.68469e-05"/>
+    </inertial>
+    <visual>
+      <origin xyz="-0.25939046331664584 0.03399989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="blue">
+        <color rgba="0 0 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.25939046331664584 0.03399989999999996 -0.08503258869619254" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="l_elbow" type="revolute">
+    <origin xyz="0 0.03399989999999997 0.07925999999999998" rpy="0 -1.3089970069677395 -3.141592653589793"/>
+    <axis xyz="2.220446049250313e-16 -1.0000000000000002 0.0"/>
+    <parent link="l_upper_arm"/>
+    <child link="l_elbow_1"/>
+    <limit effort="50000" lower="0.2617993877991494" upper="1.8500490071139892" velocity="50000"/>
+    <dynamics damping="0.06" friction="0.0"/>
+  </joint>
+  <link name="l_forearm">
+    <inertial>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
+      <mass value="0.636185"/>
+      <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
+    </inertial>
+    <visual>
+      <origin xyz="-0.29688696737542175 0 -0.07955060152271212" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_forearm_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="yellow">
+        <color rgba="1 1 0 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.29688696737542175 0 -0.07955060152271212" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_forearm_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="l_wrist_prosup" type="revolute">
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
+    <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
+    <parent link="l_elbow_1"/>
+    <child link="l_forearm"/>
+    <limit effort="50000" lower="-1.0471975511965976" upper="1.0471975511965976" velocity="50000"/>
+    <dynamics damping="0.06" friction="0.0"/>
+  </joint>
+  <link name="l_forearm_skin_0"/>
+  <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <parent link="l_forearm"/>
+    <child link="l_forearm_skin_0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_forearm_skin_1"/>
+  <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
+    <parent link="l_forearm"/>
+    <child link="l_forearm_skin_1"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_forearm_skin_2"/>
+  <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <parent link="l_forearm"/>
+    <child link="l_forearm_skin_2"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_forearm_skin_3"/>
+  <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
+    <parent link="l_forearm"/>
+    <child link="l_forearm_skin_3"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_forearm_skin_4"/>
+  <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <parent link="l_forearm"/>
+    <child link="l_forearm_skin_4"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_forearm_skin_5"/>
+  <joint name="l_forearm_skin_5_fixed_joint" type="fixed">
+    <origin xyz="0.06882119419679653 0.015709 -0.023113336179072505" rpy="-2.541047580603648 -0.38562726064167896 -0.08672275692033206"/>
+    <parent link="l_forearm"/>
+    <child link="l_forearm_skin_5"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_forearm_skin_6"/>
+  <joint name="l_forearm_skin_6_fixed_joint" type="fixed">
+    <origin xyz="0.0333948436254737 0.027308000000000027 -0.019832558343293956" rpy="-1.866281646532607 -0.27288633618099856 -0.037106803378281816"/>
+    <parent link="l_forearm"/>
+    <child link="l_forearm_skin_6"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_forearm_skin_7"/>
+  <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
+    <parent link="l_forearm"/>
+    <child link="l_forearm_skin_7"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_forearm_skin_8"/>
+  <joint name="l_forearm_skin_8_fixed_joint" type="fixed">
+    <origin xyz="0.0228528628554271 0.007545999999999997 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232073 -0.0017870807434848186"/>
+    <parent link="l_forearm"/>
+    <child link="l_forearm_skin_8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_forearm_skin_9"/>
+  <joint name="l_forearm_skin_9_fixed_joint" type="fixed">
+    <origin xyz="0.03760327346828466 0.016715000000000008 -0.03401633711864639" rpy="-2.5840651770760545 -0.29332171959950476 -0.020308579627615755"/>
+    <parent link="l_forearm"/>
+    <child link="l_forearm_skin_9"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_forearm_skin_10"/>
+  <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
+    <parent link="l_forearm"/>
+    <child link="l_forearm_skin_10"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_forearm_skin_11"/>
+  <joint name="l_forearm_skin_11_fixed_joint" type="fixed">
+    <origin xyz="0.05422409120236691 -0.011283199999999993 -0.03214312594517525" rpy="2.9392983595663433 -0.3291013897448523 0.01427348912915269"/>
+    <parent link="l_forearm"/>
+    <child link="l_forearm_skin_11"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_forearm_skin_12"/>
+  <joint name="l_forearm_skin_12_fixed_joint" type="fixed">
+    <origin xyz="0.037599463386836625 -0.020455600000000018 -0.034019117996090566" rpy="2.5830350596406384 -0.29483050206974426 0.02132685044803458"/>
+    <parent link="l_forearm"/>
+    <child link="l_forearm_skin_12"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_forearm_skin_13"/>
+  <joint name="l_forearm_skin_13_fixed_joint" type="fixed">
+    <origin xyz="0.022855086840518728 -0.0112878 -0.04189190092085042" rpy="2.948966791979468 -0.2705839471887793 0.0017738500676491309"/>
+    <parent link="l_forearm"/>
+    <child link="l_forearm_skin_13"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_forearm_skin_14"/>
+  <joint name="l_forearm_skin_14_fixed_joint" type="fixed">
+    <origin xyz="0.06877032763640067 -0.019399899999999998 -0.02302395585107192" rpy="2.5246225036344367 -0.3877945117708607 0.09129241116830253"/>
+    <parent link="l_forearm"/>
+    <child link="l_forearm_skin_14"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_forearm_skin_15"/>
+  <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <parent link="l_forearm"/>
+    <child link="l_forearm_skin_15"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_forearm_skin_16"/>
+  <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
+    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
+    <parent link="l_forearm"/>
+    <child link="l_forearm_skin_16"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_forearm_skin_17"/>
+  <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
+    <parent link="l_forearm"/>
+    <child link="l_forearm_skin_17"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_forearm_skin_19"/>
+  <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
+    <parent link="l_forearm"/>
+    <child link="l_forearm_skin_19"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_forearm_skin_22"/>
+  <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <parent link="l_forearm"/>
+    <child link="l_forearm_skin_22"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_forearm_skin_24"/>
+  <joint name="l_forearm_skin_24_fixed_joint" type="fixed">
+    <origin xyz="0.07003453195640522 0.007477000000000011 0.05006910871401307" rpy="-0.23489327644017152 -0.03881729939817665 -0.054829198999867323"/>
+    <parent link="l_forearm"/>
+    <child link="l_forearm_skin_24"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_forearm_skin_25"/>
+  <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
+    <parent link="l_forearm"/>
+    <child link="l_forearm_skin_25"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_forearm_skin_28"/>
+  <joint name="l_forearm_skin_28_fixed_joint" type="fixed">
+    <origin xyz="0.05358592721475831 -0.01965220000000001 0.04535203739698063" rpy="0.5793111069492733 -0.13399430677809196 0.08675978583118527"/>
+    <parent link="l_forearm"/>
+    <child link="l_forearm_skin_28"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_forearm_skin_29"/>
+  <joint name="l_forearm_skin_29_fixed_joint" type="fixed">
+    <origin xyz="0.07003558050313372 -0.011193599999999984 0.05001110362329029" rpy="0.24863098220864197 -0.03831365567858803 0.05830266242661145"/>
+    <parent link="l_forearm"/>
+    <child link="l_forearm_skin_29"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_forearm_dh_frame"/>
+  <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <parent link="l_forearm"/>
+    <child link="l_forearm_dh_frame"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_wrist_1">
+    <inertial>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
+      <mass value="0.0362152"/>
+      <inertia ixx="5.56774e-06" ixy="3.08362e-08" ixz="9.42153e-07" iyy="5.28838e-06" iyz="-1.58924e-07" izz="1.87579e-06"/>
+    </inertial>
+    <visual>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="pink">
+        <color rgba="1 0 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="l_wrist_pitch" type="revolute">
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
+    <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
+    <parent link="l_forearm"/>
+    <child link="l_wrist_1"/>
+    <limit effort="50000" lower="-1.3962634015954636" upper="0.4363323129985824" velocity="50000"/>
+    <dynamics damping="0.06" friction="0.0"/>
+  </joint>
+  <link name="l_hand">
+    <inertial>
+      <origin xyz="0.0647680204056704 0.005630400000000035 0.02266022084492256" rpy="0 0 0"/>
+      <mass value="0.247806"/>
+      <inertia ixx="0.000162491" ixy="2.96453e-06" ixz="-3.68906e-05" iyy="0.000430657" iyz="2.06885e-05" izz="0.000304729"/>
+    </inertial>
+    <visual>
+      <origin xyz="-0.39968042405496884 0.019492899999999924 -0.10740460058694125" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hand_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="cyan">
+        <color rgba="0 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.39968042405496884 0.019492899999999924 -0.10740460058694125" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hand_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="l_wrist_yaw" type="revolute">
+    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
+    <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
+    <parent link="l_wrist_1"/>
+    <child link="l_hand"/>
+    <limit effort="50000" lower="-0.3490658503988659" upper="0.4363323129985824" velocity="50000"/>
+    <dynamics damping="0.06" friction="0.0"/>
+  </joint>
+  <link name="l_hand_dh_frame"/>
+  <joint name="l_hand_dh_frame_fixed_joint" type="fixed">
+    <origin xyz="0.05765429784284365 -0.005556799999999987 0.013693832308330513" rpy="-1.5707963267948963 -0.2617993198271562 0"/>
+    <parent link="l_hand"/>
+    <child link="l_hand_dh_frame"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_hip_1">
+    <inertial>
+      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <mass value="0.919725"/>
+      <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
+    </inertial>
+    <visual>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="green">
+        <color rgba="0 1 0 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="l_hip_pitch" type="revolute">
+    <origin xyz="0.006451499999999999 -0.026000000000000023 -0.11991299999999999" rpy="0 0 -3.141592653589793"/>
+    <axis xyz="-2.220446049250313e-16 -0.9999999999999998 0.0"/>
+    <parent link="root_link"/>
+    <child link="l_hip_1"/>
+    <limit effort="55.5" lower="-0.7853981633974483" upper="2.3387411976724017" velocity="5.1"/>
+    <dynamics damping="0.223" friction="0.0"/>
+  </joint>
+  <link name="l_hip_2">
+    <inertial>
+      <origin xyz="-0.0011062999999999906 1.7299999999997873e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <mass value="0.415987"/>
+      <inertia ixx="0.000475741" ixy="2.89355e-07" ixz="-6.72876e-08" iyy="0.000279828" iyz="6.7417e-06" izz="0.000307828"/>
+    </inertial>
+    <visual>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="l_hip_roll" type="revolute">
+    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
+    <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
+    <parent link="l_hip_1"/>
+    <child link="l_hip_2"/>
+    <limit effort="37.0" lower="-0.3490658503988659" upper="2.0943951023931953" velocity="7.64"/>
+    <dynamics damping="0.223" friction="0.0"/>
+  </joint>
+  <link name="l_hip_3">
+    <inertial>
+      <origin xyz="-0.00012289999999999524 -0.00028229999999998534 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <mass value="0.126212"/>
+      <inertia ixx="3.27938e-05" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="5.69957e-05" iyz="3.32338e-08" izz="3.26449e-05"/>
+    </inertial>
+    <visual>
+      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="dblue">
+        <color rgba="0 0 0.8 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="l_leg_ft_sensor" type="fixed">
+    <origin xyz="-0.0008301999999999893 7.519999999998361e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <parent link="l_hip_2"/>
+    <child link="l_hip_3"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_upper_leg">
+    <inertial>
+      <origin xyz="0.0033868999999999982 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <mass value="1.8084"/>
+      <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
+    </inertial>
+    <visual>
+      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="dgreen">
+        <color rgba="0.1 0.8 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="l_hip_yaw" type="revolute">
+    <origin xyz="0 0 0.014399999999999996" rpy="-3.141592653589793 0 0"/>
+    <axis xyz="0.0 2.220446049250313e-16 0.9999999999999998"/>
+    <parent link="l_hip_3"/>
+    <child link="l_upper_leg"/>
+    <limit effort="37.0" lower="-1.3962634015954636" upper="1.3962634015954636" velocity="7.64"/>
+    <dynamics damping="0.223" friction="0.0"/>
+  </joint>
+  <link name="l_upper_leg_back_contact"/>
+  <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
+    <origin xyz="-0.05125669999999999 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <parent link="l_upper_leg"/>
+    <child link="l_upper_leg_back_contact"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_upper_leg_dh_frame"/>
+  <joint name="l_upper_leg_dh_frame_fixed_joint" type="fixed">
+    <origin xyz="0 0 -0.14582499999999995" rpy="1.5707963267948966 0 0"/>
+    <parent link="l_upper_leg"/>
+    <child link="l_upper_leg_dh_frame"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_lower_leg">
+    <inertial>
+      <origin xyz="0.000999800000000002 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <mass value="1.4724"/>
+      <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
+    </inertial>
+    <visual>
+      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="gray">
+        <color rgba="0.5 0.5 0.5 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="l_knee" type="revolute">
+    <origin xyz="0 0 -0.14582499999999995" rpy="0 0 0"/>
+    <axis xyz="-2.220446049250313e-16 -0.9999999999999998 0.0"/>
+    <parent link="l_upper_leg"/>
+    <child link="l_lower_leg"/>
+    <limit effort="37.0" lower="-2.1642082724729685" upper="0.06981317007977318" velocity="7.64"/>
+    <dynamics damping="0.223" friction="0.0"/>
+  </joint>
+  <link name="l_ankle_1">
+    <inertial>
+      <origin xyz="0.015153099999999996 0.000902 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <mass value="0.6798"/>
+      <inertia ixx="0.00040447429734460005" ixy="-1.1322603878053663e-06" ixz="3.046651057758992e-05" iyy="0.0004478873540695352" iyz="2.5726583414130826e-06" izz="0.0003076030453774591"/>
+    </inertial>
+    <visual>
+      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="green">
+        <color rgba="0 1 0 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="l_ankle_pitch" type="revolute">
+    <origin xyz="0 0 -0.20049999999999996" rpy="0 0 0"/>
+    <axis xyz="2.220446049250313e-16 0.9999999999999998 0.0"/>
+    <parent link="l_lower_leg"/>
+    <child link="l_ankle_1"/>
+    <limit effort="37.0" lower="-0.6108652381980153" upper="0.6108652381980153" velocity="7.64"/>
+    <dynamics damping="0.223" friction="0.0"/>
+  </joint>
+  <link name="l_ankle_2">
+    <inertial>
+      <origin xyz="0.0011447000000000054 3.5999999999786203e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <mass value="0.265122"/>
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+    </inertial>
+    <visual>
+      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0 0 0 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="l_ankle_roll" type="revolute">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
+    <parent link="l_ankle_1"/>
+    <child link="l_ankle_2"/>
+    <limit effort="37.0" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="7.64"/>
+    <dynamics damping="0.223" friction="0.0"/>
+  </joint>
+  <link name="l_foot">
+    <inertial>
+      <origin xyz="0.03366689999999999 -0.005373499999999989 -0.0011639999999999429" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <mass value="0.382968"/>
+      <inertia ixx="0.00121242" ixy="-3.69533e-07" ixz="5.79273e-05" iyy="0.00141712" iyz="-7.64972e-06" izz="0.000273846"/>
+    </inertial>
+    <visual>
+      <origin xyz="0.04720906119999997 0.07010002480000013 -0.6474380002860819" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1 0 0 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.04720906119999997 0.07010002480000013 -0.6474380002860819" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <geometry>
+        <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="l_foot_ft_sensor" type="fixed">
+    <origin xyz="-0.003499999999999996 0 -0.0605" rpy="3.141592653589793 0 0"/>
+    <parent link="l_ankle_2"/>
+    <child link="l_foot"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_sole"/>
+  <joint name="l_sole_fixed_joint" type="fixed">
+    <origin xyz="0.003500000000000003 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
+    <parent link="l_foot"/>
+    <child link="l_sole"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_sole_skin_0"/>
+  <joint name="l_sole_skin_0_fixed_joint" type="fixed">
+    <origin xyz="0.09320879999999998 0.032367999999999994 0.007500000000000062" rpy="0 0 0"/>
+    <parent link="l_foot"/>
+    <child link="l_sole_skin_0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_sole_skin_1"/>
+  <joint name="l_sole_skin_1_fixed_joint" type="fixed">
+    <origin xyz="0.07885119999999998 0.019439899999999996 0.007500000000000062" rpy="0 0 0"/>
+    <parent link="l_foot"/>
+    <child link="l_sole_skin_1"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_sole_skin_2"/>
+  <joint name="l_sole_skin_2_fixed_joint" type="fixed">
+    <origin xyz="0.06047679999999998 0.02541059999999999 0.007500000000000062" rpy="0 0 0"/>
+    <parent link="l_foot"/>
+    <child link="l_sole_skin_2"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_sole_skin_3"/>
+  <joint name="l_sole_skin_3_fixed_joint" type="fixed">
+    <origin xyz="0.04611922999999998 0.012482499999999994 0.007500000000000062" rpy="0 0 0"/>
+    <parent link="l_foot"/>
+    <child link="l_sole_skin_3"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_sole_skin_4"/>
+  <joint name="l_sole_skin_4_fixed_joint" type="fixed">
+    <origin xyz="0.05013608999999999 -0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <parent link="l_foot"/>
+    <child link="l_sole_skin_4"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_sole_skin_8"/>
+  <joint name="l_sole_skin_8_fixed_joint" type="fixed">
+    <origin xyz="0.07252739999999999 -0.031282799999999986 0.007500000000000062" rpy="0 0 0"/>
+    <parent link="l_foot"/>
+    <child link="l_sole_skin_8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_sole_skin_9"/>
+  <joint name="l_sole_skin_9_fixed_joint" type="fixed">
+    <origin xyz="0.09090179999999999 -0.03725379999999999 0.007500000000000062" rpy="0 0 0"/>
+    <parent link="l_foot"/>
+    <child link="l_sole_skin_9"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_sole_skin_10"/>
+  <joint name="l_sole_skin_10_fixed_joint" type="fixed">
+    <origin xyz="0.10525929999999997 -0.024325399999999983 0.007500000000000062" rpy="0 0 0"/>
+    <parent link="l_foot"/>
+    <child link="l_sole_skin_10"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_sole_skin_11"/>
+  <joint name="l_sole_skin_11_fixed_joint" type="fixed">
+    <origin xyz="0.10124249999999999 -0.005428100000000005 0.007500000000000062" rpy="0 0 0"/>
+    <parent link="l_foot"/>
+    <child link="l_sole_skin_11"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_sole_skin_12"/>
+  <joint name="l_sole_skin_12_fixed_joint" type="fixed">
+    <origin xyz="0.08286809999999997 0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
+    <parent link="l_foot"/>
+    <child link="l_sole_skin_12"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_sole_skin_13"/>
+  <joint name="l_sole_skin_13_fixed_joint" type="fixed">
+    <origin xyz="0.06851049999999999 -0.012385499999999994 0.007500000000000062" rpy="0 0 0"/>
+    <parent link="l_foot"/>
+    <child link="l_sole_skin_13"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_sole_skin_14"/>
+  <joint name="l_sole_skin_14_fixed_joint" type="fixed">
+    <origin xyz="0.11559999999999998 0.007499500000000006 0.007500000000000062" rpy="0 0 0"/>
+    <parent link="l_foot"/>
+    <child link="l_sole_skin_14"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_sole_skin_15"/>
+  <joint name="l_sole_skin_15_fixed_joint" type="fixed">
+    <origin xyz="0.11158319999999997 0.02639729999999999 0.007500000000000062" rpy="0 0 0"/>
+    <parent link="l_foot"/>
+    <child link="l_sole_skin_15"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_sole_skin_17"/>
+  <joint name="l_sole_skin_17_fixed_joint" type="fixed">
+    <origin xyz="-0.03771910000000001 0.004538500000000001 0.007500000000000062" rpy="0 0 0"/>
+    <parent link="l_foot"/>
+    <child link="l_sole_skin_17"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_sole_skin_18"/>
+  <joint name="l_sole_skin_18_fixed_joint" type="fixed">
+    <origin xyz="-0.05207669999999998 -0.008389699999999986 0.007500000000000062" rpy="0 0 0"/>
+    <parent link="l_foot"/>
+    <child link="l_sole_skin_18"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_sole_skin_19"/>
+  <joint name="l_sole_skin_19_fixed_joint" type="fixed">
+    <origin xyz="-0.04805979999999999 -0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
+    <parent link="l_foot"/>
+    <child link="l_sole_skin_19"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_sole_skin_20"/>
+  <joint name="l_sole_skin_20_fixed_joint" type="fixed">
+    <origin xyz="-0.02968539999999998 -0.03325779999999999 0.007500000000000062" rpy="0 0 0"/>
+    <parent link="l_foot"/>
+    <child link="l_sole_skin_20"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_sole_skin_21"/>
+  <joint name="l_sole_skin_21_fixed_joint" type="fixed">
+    <origin xyz="0.027744799999999986 0.0184533 0.007500000000000062" rpy="0 0 0"/>
+    <parent link="l_foot"/>
+    <child link="l_sole_skin_21"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_sole_skin_22"/>
+  <joint name="l_sole_skin_22_fixed_joint" type="fixed">
+    <origin xyz="0.03577849999999999 -0.019342899999999996 0.007500000000000062" rpy="0 0 0"/>
+    <parent link="l_foot"/>
+    <child link="l_sole_skin_22"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_sole_skin_24"/>
+  <joint name="l_sole_skin_24_fixed_joint" type="fixed">
+    <origin xyz="0.0030465999999999965 -0.02630029999999997 0.007500000000000062" rpy="0 0 0"/>
+    <parent link="l_foot"/>
+    <child link="l_sole_skin_24"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_sole_skin_25"/>
+  <joint name="l_sole_skin_25_fixed_joint" type="fixed">
+    <origin xyz="0.017404099999999995 -0.013372199999999987 0.007500000000000062" rpy="0 0 0"/>
+    <parent link="l_foot"/>
+    <child link="l_sole_skin_25"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_sole_skin_26"/>
+  <joint name="l_sole_skin_26_fixed_joint" type="fixed">
+    <origin xyz="0.013387299999999991 0.005525100000000005 0.007500000000000062" rpy="0 0 0"/>
+    <parent link="l_foot"/>
+    <child link="l_sole_skin_26"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_sole_skin_27"/>
+  <joint name="l_sole_skin_27_fixed_joint" type="fixed">
+    <origin xyz="-0.004987100000000001 0.011495900000000003 0.007500000000000062" rpy="0 0 0"/>
+    <parent link="l_foot"/>
+    <child link="l_sole_skin_27"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_sole_skin_28"/>
+  <joint name="l_sole_skin_28_fixed_joint" type="fixed">
+    <origin xyz="-0.0193447 -0.0014322999999999975 0.007500000000000062" rpy="0 0 0"/>
+    <parent link="l_foot"/>
+    <child link="l_sole_skin_28"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="l_sole_skin_29"/>
+  <joint name="l_sole_skin_29_fixed_joint" type="fixed">
+    <origin xyz="-0.015327899999999998 -0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
+    <parent link="l_foot"/>
+    <child link="l_sole_skin_29"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="base_link"/>
+  <joint name="base_link_fixed_joint" type="fixed">
+  <origin xyz="0 0 0" rpy="0 -0 0"/>
+  <axis xyz="0 0 0"/>
+  <parent link="root_link"/>
+  <child link="base_link"/>
+</joint>
+  <link name="l_foot_dh_frame"/>
+  <joint name="l_foot_dh_frame_fixed_joint" type="fixed">
+  <origin xyz="0.0 0 0.004" rpy="0 1.5708 0"/>
+  <axis xyz="0 0 0"/>
+  <parent link="l_foot"/>
+  <child link="l_foot_dh_frame"/>
+</joint>
+  <link name="r_foot_dh_frame"/>
+  <joint name="r_foot_dh_frame_fixed_joint" type="fixed">
+  <origin xyz="0.0 0 0.004" rpy="0 1.5708 0"/>
+  <axis xyz="0 0 0"/>
+  <parent link="r_foot"/>
+  <child link="r_foot_dh_frame"/>
+</joint>
+  <gazebo reference="r_arm_ft_sensor">
+  <preserveFixedJoint>true</preserveFixedJoint>
+  <!-- For compatibility with SDFormat < 4.4 -->
+  <disableFixedJointLumping>true</disableFixedJointLumping>
+</gazebo>
+  <gazebo reference="l_arm_ft_sensor">
+  <preserveFixedJoint>true</preserveFixedJoint>
+  <!-- For compatibility with SDFormat < 4.4 -->
+  <disableFixedJointLumping>true</disableFixedJointLumping>
+</gazebo>
+  <gazebo reference="r_leg_ft_sensor">
+  <preserveFixedJoint>true</preserveFixedJoint>
+  <!-- For compatibility with SDFormat < 4.4 -->
+  <disableFixedJointLumping>true</disableFixedJointLumping>
+</gazebo>
+  <gazebo reference="l_leg_ft_sensor">
+  <preserveFixedJoint>true</preserveFixedJoint>
+  <!-- For compatibility with SDFormat < 4.4 -->
+  <disableFixedJointLumping>true</disableFixedJointLumping>
+</gazebo>
+  <gazebo reference="r_foot_ft_sensor">
+  <preserveFixedJoint>true</preserveFixedJoint>
+  <!-- For compatibility with SDFormat < 4.4 -->
+  <disableFixedJointLumping>true</disableFixedJointLumping>
+</gazebo>
+  <gazebo reference="l_foot_ft_sensor">
+  <preserveFixedJoint>true</preserveFixedJoint>
+  <!-- For compatibility with SDFormat < 4.4 -->
+  <disableFixedJointLumping>true</disableFixedJointLumping>
+</gazebo>
+  <gazebo reference="l_foot">
+  <collision> <surface> <bounce>
+    <restitution_coefficient>0</restitution_coefficient>
+    <threshold>100000</threshold>
+  </bounce> </surface> </collision>
+  <maxContacts>4</maxContacts>
+  <kp>18000000</kp>
+  <kd>100</kd>
+  <maxVel>100</maxVel>
+  <minDepth>0.0001</minDepth>
+  <mu1>1</mu1>
+  <mu2>1</mu2>
+  <fdir1>0 0 0</fdir1>
+</gazebo>
+  <gazebo reference="r_foot">
+  <collision> <surface> <bounce>
+    <restitution_coefficient>0</restitution_coefficient>
+    <threshold>100000</threshold>
+  </bounce> </surface> </collision>
+  <maxContacts>4</maxContacts>
+  <kp>18000000</kp>
+  <kd>100</kd>
+  <maxVel>100</maxVel>
+  <minDepth>0.0001</minDepth>
+  <mu1>1</mu1>
+  <mu2>1</mu2>
+  <fdir1>0 0 0</fdir1>
+</gazebo>
+  <gazebo>
+<plugin name="iCub_yarp_gazebo_plugin_ACCpart" filename="libgazebo_yarp_distributedinertials.so">
+  <yarpConfigurationFile>model://iCub/conf/MTB/gazebo_icub_left_leg_mtb.ini</yarpConfigurationFile>
+</plugin>
+<plugin name="iCub_yarp_gazebo_plugin_ACCpart" filename="libgazebo_yarp_distributedinertials.so">
+  <yarpConfigurationFile>model://iCub/conf/MTB/gazebo_icub_right_leg_mtb.ini</yarpConfigurationFile>
+</plugin>
+<plugin name="iCub_yarp_gazebo_plugin_ACCpart" filename="libgazebo_yarp_distributedinertials.so">
+  <yarpConfigurationFile>model://iCub/conf/MTB/gazebo_icub_left_arm_mtb.ini</yarpConfigurationFile>
+</plugin>
+<plugin name="iCub_yarp_gazebo_plugin_ACCpart" filename="libgazebo_yarp_distributedinertials.so">
+  <yarpConfigurationFile>model://iCub/conf/MTB/gazebo_icub_right_arm_mtb.ini</yarpConfigurationFile>
+</plugin>
+<plugin name="iCub_yarp_gazebo_plugin_ACCpart" filename="libgazebo_yarp_distributedinertials.so">
+  <yarpConfigurationFile>model://iCub/conf/MTB/gazebo_icub_torso_mtb.ini</yarpConfigurationFile>
+</plugin>
+<plugin name="controlboard_torso" filename="libgazebo_yarp_controlboard.so">
+  <yarpConfigurationFile>model://iCub/conf/gazebo_icub_torso.ini</yarpConfigurationFile>
+</plugin>
+<plugin name="controlboard_head_without_eyes" filename="libgazebo_yarp_controlboard.so">
+  <yarpConfigurationFile>model://iCub/conf/gazebo_icub_head_without_eyes.ini</yarpConfigurationFile>
+</plugin>
+<plugin name="controlboard_left_arm_no_hand" filename="libgazebo_yarp_controlboard.so">
+  <yarpConfigurationFile>model://iCub/conf/gazebo_icub_left_arm_no_hand_for_no_hand_model.ini</yarpConfigurationFile>
+  <initialConfiguration>-0.52 0.52 0 0.785 0 0 0.0</initialConfiguration>
+</plugin>
+<plugin name="controlboard_right_arm_no_hand" filename="libgazebo_yarp_controlboard.so">
+  <yarpConfigurationFile>model://iCub/conf/gazebo_icub_right_arm_no_hand_for_no_hand_model.ini</yarpConfigurationFile>
+  <initialConfiguration>-0.52 0.52 0 0.785 0 0 0.0</initialConfiguration>
+</plugin>
+<plugin name="controlboard_right_leg" filename="libgazebo_yarp_controlboard.so">
+  <yarpConfigurationFile>model://iCub/conf/gazebo_icub_right_leg.ini</yarpConfigurationFile>
+</plugin>
+<plugin name="controlboard_left_leg" filename="libgazebo_yarp_controlboard.so">
+  <yarpConfigurationFile>model://iCub/conf/gazebo_icub_left_leg.ini</yarpConfigurationFile>
+</plugin>
+<plugin name="apply_external_wrench" filename="libgazebo_yarp_externalwrench.so">
+  <robotNamefromConfigFile>model://iCub/conf/gazebo_icub_robotname.ini</robotNamefromConfigFile>
+</plugin>
+</gazebo>
+  <gazebo reference="r_hip_pitch">
+   <implicitSpringDamper>1</implicitSpringDamper>
+</gazebo>
+  <gazebo reference="r_hip_roll">
+   <implicitSpringDamper>1</implicitSpringDamper>
+</gazebo>
+  <gazebo reference="r_hip_yaw">
+   <implicitSpringDamper>1</implicitSpringDamper>
+</gazebo>
+  <gazebo reference="r_knee">
+   <implicitSpringDamper>1</implicitSpringDamper>
+</gazebo>
+  <gazebo reference="r_ankle_pitch">
+   <implicitSpringDamper>1</implicitSpringDamper>
+</gazebo>
+  <gazebo reference="r_ankle_roll">
+   <implicitSpringDamper>1</implicitSpringDamper>
+</gazebo>
+  <gazebo reference="l_hip_pitch">
+   <implicitSpringDamper>1</implicitSpringDamper>
+</gazebo>
+  <gazebo reference="l_hip_roll">
+   <implicitSpringDamper>1</implicitSpringDamper>
+</gazebo>
+  <gazebo reference="l_hip_yaw">
+   <implicitSpringDamper>1</implicitSpringDamper>
+</gazebo>
+  <gazebo reference="l_knee">
+   <implicitSpringDamper>1</implicitSpringDamper>
+</gazebo>
+  <gazebo reference="l_ankle_pitch">
+   <implicitSpringDamper>1</implicitSpringDamper>
+</gazebo>
+  <gazebo reference="l_ankle_roll">
+   <implicitSpringDamper>1</implicitSpringDamper>
+</gazebo>
+  <gazebo reference="torso_pitch">
+   <implicitSpringDamper>1</implicitSpringDamper>
+</gazebo>
+  <gazebo reference="torso_roll">
+   <implicitSpringDamper>1</implicitSpringDamper>
+</gazebo>
+  <gazebo reference="torso_yaw">
+   <implicitSpringDamper>1</implicitSpringDamper>
+</gazebo>
+  <gazebo reference="r_shoulder_pitch">
+   <implicitSpringDamper>1</implicitSpringDamper>
+</gazebo>
+  <gazebo reference="r_shoulder_roll">
+   <implicitSpringDamper>1</implicitSpringDamper>
+</gazebo>
+  <gazebo reference="r_shoulder_yaw">
+   <implicitSpringDamper>1</implicitSpringDamper>
+</gazebo>
+  <gazebo reference="r_elbow">
+   <implicitSpringDamper>1</implicitSpringDamper>
+</gazebo>
+  <gazebo reference="r_wrist_prosup">
+   <implicitSpringDamper>1</implicitSpringDamper>
+</gazebo>
+  <gazebo reference="r_wrist_pitch">
+   <implicitSpringDamper>1</implicitSpringDamper>
+</gazebo>
+  <gazebo reference="r_wrist_yaw">
+   <implicitSpringDamper>1</implicitSpringDamper>
+</gazebo>
+  <gazebo reference="l_shoulder_pitch">
+   <implicitSpringDamper>1</implicitSpringDamper>
+</gazebo>
+  <gazebo reference="l_shoulder_roll">
+   <implicitSpringDamper>1</implicitSpringDamper>
+</gazebo>
+  <gazebo reference="l_shoulder_yaw">
+   <implicitSpringDamper>1</implicitSpringDamper>
+</gazebo>
+  <gazebo reference="l_elbow">
+   <implicitSpringDamper>1</implicitSpringDamper>
+</gazebo>
+  <gazebo reference="l_wrist_prosup">
+   <implicitSpringDamper>1</implicitSpringDamper>
+</gazebo>
+  <gazebo reference="l_wrist_pitch">
+   <implicitSpringDamper>1</implicitSpringDamper>
+</gazebo>
+  <gazebo reference="l_wrist_yaw">
+   <implicitSpringDamper>1</implicitSpringDamper>
+</gazebo>
+  <gazebo reference="neck_pitch">
+   <implicitSpringDamper>1</implicitSpringDamper>
+</gazebo>
+  <gazebo reference="neck_roll">
+   <implicitSpringDamper>1</implicitSpringDamper>
+</gazebo>
+  <gazebo reference="neck_yaw">
+   <implicitSpringDamper>1</implicitSpringDamper>
+</gazebo>
+  <gazebo reference="l_leg_ft_sensor">
+    <sensor name="l_leg_ft_sensor" type="force_torque">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <force_torque>
+        <frame>child</frame>
+        <measure_direction>child_to_parent</measure_direction>
+      </force_torque>
+      <pose>0.0 0.0 0.0 0.0 -0.0 0.0</pose>
+      <plugin name="left_leg_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
+  <yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_left_leg_ft.ini</yarpConfigurationFile>
+</plugin>
+    </sensor>
+  </gazebo>
+  <sensor name="l_leg_ft_sensor" type="force_torque">
+    <parent joint="l_leg_ft_sensor"/>
+    <force_torque>
+      <frame>child</frame>
+      <measure_direction>child_to_parent</measure_direction>
+    </force_torque>
+    <origin rpy="0.0 -0.0 0.0" xyz="0.0 0.0 0.0"/>
+  </sensor>
+  <gazebo reference="r_leg_ft_sensor">
+    <sensor name="r_leg_ft_sensor" type="force_torque">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <force_torque>
+        <frame>child</frame>
+        <measure_direction>child_to_parent</measure_direction>
+      </force_torque>
+      <pose>0.0 0.0 0.0 0.0 -0.0 0.0</pose>
+      <plugin name="right_leg_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
+  <yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_right_leg_ft.ini</yarpConfigurationFile>
+</plugin>
+    </sensor>
+  </gazebo>
+  <sensor name="r_leg_ft_sensor" type="force_torque">
+    <parent joint="r_leg_ft_sensor"/>
+    <force_torque>
+      <frame>child</frame>
+      <measure_direction>child_to_parent</measure_direction>
+    </force_torque>
+    <origin rpy="0.0 -0.0 0.0" xyz="0.0 0.0 0.0"/>
+  </sensor>
+  <gazebo reference="l_foot_ft_sensor">
+    <sensor name="l_foot_ft_sensor" type="force_torque">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <force_torque>
+        <frame>child</frame>
+        <measure_direction>child_to_parent</measure_direction>
+      </force_torque>
+      <pose>0.0 0.0 0.0 0.0 -0.0 0.0</pose>
+      <plugin name="left_foot_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
+  <yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_left_foot_ft.ini</yarpConfigurationFile>
+</plugin>
+    </sensor>
+  </gazebo>
+  <sensor name="l_foot_ft_sensor" type="force_torque">
+    <parent joint="l_foot_ft_sensor"/>
+    <force_torque>
+      <frame>child</frame>
+      <measure_direction>child_to_parent</measure_direction>
+    </force_torque>
+    <origin rpy="0.0 -0.0 0.0" xyz="0.0 0.0 0.0"/>
+  </sensor>
+  <gazebo reference="r_foot_ft_sensor">
+    <sensor name="r_foot_ft_sensor" type="force_torque">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <force_torque>
+        <frame>child</frame>
+        <measure_direction>child_to_parent</measure_direction>
+      </force_torque>
+      <pose>0.0 0.0 0.0 0.0 -0.0 0.0</pose>
+      <plugin name="right_foot_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
+  <yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_right_foot_ft.ini</yarpConfigurationFile>
+</plugin>
+    </sensor>
+  </gazebo>
+  <sensor name="r_foot_ft_sensor" type="force_torque">
+    <parent joint="r_foot_ft_sensor"/>
+    <force_torque>
+      <frame>child</frame>
+      <measure_direction>child_to_parent</measure_direction>
+    </force_torque>
+    <origin rpy="0.0 -0.0 0.0" xyz="0.0 0.0 0.0"/>
+  </sensor>
+  <gazebo reference="l_arm_ft_sensor">
+    <sensor name="l_arm_ft_sensor" type="force_torque">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <force_torque>
+        <frame>child</frame>
+        <measure_direction>child_to_parent</measure_direction>
+      </force_torque>
+      <pose>0.0 0.0 0.0 0.0 -0.0 0.0</pose>
+      <plugin name="left_arm_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
+  <yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_left_arm_ft.ini</yarpConfigurationFile>
+</plugin>
+    </sensor>
+  </gazebo>
+  <sensor name="l_arm_ft_sensor" type="force_torque">
+    <parent joint="l_arm_ft_sensor"/>
+    <force_torque>
+      <frame>child</frame>
+      <measure_direction>child_to_parent</measure_direction>
+    </force_torque>
+    <origin rpy="0.0 -0.0 0.0" xyz="0.0 0.0 0.0"/>
+  </sensor>
+  <gazebo reference="r_arm_ft_sensor">
+    <sensor name="r_arm_ft_sensor" type="force_torque">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <force_torque>
+        <frame>child</frame>
+        <measure_direction>child_to_parent</measure_direction>
+      </force_torque>
+      <pose>0.0 0.0 0.0 0.0 -0.0 0.0</pose>
+      <plugin name="right_arm_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
+  <yarpConfigurationFile>model://iCub/conf/FT/gazebo_icub_right_arm_ft.ini</yarpConfigurationFile>
+</plugin>
+    </sensor>
+  </gazebo>
+  <sensor name="r_arm_ft_sensor" type="force_torque">
+    <parent joint="r_arm_ft_sensor"/>
+    <force_torque>
+      <frame>child</frame>
+      <measure_direction>child_to_parent</measure_direction>
+    </force_torque>
+    <origin rpy="0.0 -0.0 0.0" xyz="0.0 0.0 0.0"/>
+  </sensor>
+  <gazebo reference="head">
+    <sensor name="head_imu_acc_1x1" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.009500000190735 0.133444 0.009299999999999996 -1.5707963267948963 1.5707963267948963 0.0</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
+    <yarpConfigurationFile>model://iCub/conf/gazebo_icub_inertial.ini</yarpConfigurationFile>
+</plugin>
+    </sensor>
+  </gazebo>
+  <sensor name="head_imu_acc_1x1" type="accelerometer">
+    <parent link="head"/>
+    <origin rpy="-1.5707963267948963 1.5707963267948963 0.0" xyz="0.009500000190735 0.133444 0.009299999999999996"/>
+  </sensor>
+  <gazebo reference="root_link">
+    <sensor name="root_link_ems_acc_eb5" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.0493308 -0.012577100000000023 -0.11569100000000002 -3.141592653589793 1.2915440450258353 3.141592653589793</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="root_link_ems_acc_eb5" type="accelerometer">
+    <parent link="root_link"/>
+    <origin rpy="-3.141592653589793 1.2915440450258353 3.141592653589793" xyz="0.0493308 -0.012577100000000023 -0.11569100000000002"/>
+  </sensor>
+  <gazebo reference="root_link">
+    <sensor name="root_link_ems_gyro_eb5" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.0493308 -0.012577100000000023 -0.11569100000000002 -3.141592653589793 1.2915440450258353 3.141592653589793</pose>
+    </sensor>
+  </gazebo>
+  <sensor name="root_link_ems_gyro_eb5" type="gyroscope">
+    <parent link="root_link"/>
+    <origin rpy="-3.141592653589793 1.2915440450258353 3.141592653589793" xyz="0.0493308 -0.012577100000000023 -0.11569100000000002"/>
+  </sensor>
+  <gazebo reference="chest">
+    <sensor name="chest_ems_acc_eb1" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.064785500190735 0.064043 -0.06470909999999999 3.1415169122972952 -0.2617993091222473 0.0002926418802545251</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="chest_ems_acc_eb1" type="accelerometer">
+    <parent link="chest"/>
+    <origin rpy="3.1415169122972952 -0.2617993091222473 0.0002926418802545251" xyz="0.064785500190735 0.064043 -0.06470909999999999"/>
+  </sensor>
+  <gazebo reference="chest">
+    <sensor name="chest_ems_gyro_eb1" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.069201600190735 0.06454800000000001 -0.0635258 3.1415169122972952 -0.2617993091222473 0.0002926418802545251</pose>
+    </sensor>
+  </gazebo>
+  <sensor name="chest_ems_gyro_eb1" type="gyroscope">
+    <parent link="chest"/>
+    <origin rpy="3.1415169122972952 -0.2617993091222473 0.0002926418802545251" xyz="0.069201600190735 0.06454800000000001 -0.0635258"/>
+  </sensor>
+  <gazebo reference="chest">
+    <sensor name="chest_ems_acc_eb2" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.020453300190735 0.08806299999999999 -0.0641645 3.141590501042822 0.2617993198185102 3.1415843367812997</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="chest_ems_acc_eb2" type="accelerometer">
+    <parent link="chest"/>
+    <origin rpy="3.141590501042822 0.2617993198185102 3.1415843367812997" xyz="0.020453300190735 0.08806299999999999 -0.0641645"/>
+  </sensor>
+  <gazebo reference="chest">
+    <sensor name="chest_ems_gyro_eb2" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.016037100190735 0.08755899999999998 -0.0653479 3.141590501042822 0.2617993198185102 3.1415843367812997</pose>
+    </sensor>
+  </gazebo>
+  <sensor name="chest_ems_gyro_eb2" type="gyroscope">
+    <parent link="chest"/>
+    <origin rpy="3.141590501042822 0.2617993198185102 3.1415843367812997" xyz="0.016037100190735 0.08755899999999998 -0.0653479"/>
+  </sensor>
+  <gazebo reference="chest">
+    <sensor name="chest_ems_acc_eb3" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>-0.023058799809265 0.064019 -0.07589850000000001 3.141109162025268 0.2611005164711609 -0.00030907146255546275</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="chest_ems_acc_eb3" type="accelerometer">
+    <parent link="chest"/>
+    <origin rpy="3.141109162025268 0.2611005164711609 -0.00030907146255546275" xyz="-0.023058799809265 0.064019 -0.07589850000000001"/>
+  </sensor>
+  <gazebo reference="chest">
+    <sensor name="chest_ems_gyro_eb3" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>-0.018641699809265 0.064521 -0.0770785 3.141109162025268 0.2611005164711609 -0.00030907146255546275</pose>
+    </sensor>
+  </gazebo>
+  <sensor name="chest_ems_gyro_eb3" type="gyroscope">
+    <parent link="chest"/>
+    <origin rpy="3.141109162025268 0.2611005164711609 -0.00030907146255546275" xyz="-0.018641699809265 0.064521 -0.0770785"/>
+  </sensor>
+  <gazebo reference="chest">
+    <sensor name="chest_ems_acc_eb4" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>-0.06216209980926501 0.08806299999999999 -0.0529887 -3.1415905047625503 -0.26179931981852844 3.141584339870295</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="chest_ems_acc_eb4" type="accelerometer">
+    <parent link="chest"/>
+    <origin rpy="-3.1415905047625503 -0.26179931981852844 3.141584339870295" xyz="-0.06216209980926501 0.08806299999999999 -0.0529887"/>
+  </sensor>
+  <gazebo reference="chest">
+    <sensor name="chest_ems_gyro_eb4" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>-0.06657839980926501 0.08755899999999998 -0.0518054 -3.1415905047625503 -0.26179931981852844 3.141584339870295</pose>
+    </sensor>
+  </gazebo>
+  <sensor name="chest_ems_gyro_eb4" type="gyroscope">
+    <parent link="chest"/>
+    <origin rpy="-3.1415905047625503 -0.26179931981852844 3.141584339870295" xyz="-0.06657839980926501 0.08755899999999998 -0.0518054"/>
+  </sensor>
+  <gazebo reference="chest">
+    <sensor name="chest_mtb_acc_0b7" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="chest_mtb_acc_0b7" type="accelerometer">
+    <parent link="chest"/>
+    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+  </sensor>
+  <gazebo reference="chest">
+    <sensor name="chest_mtb_acc_0b8" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>-0.045704699809265004 -0.0018460000000000004 0.0567427 0.5009600846888734 0.10731368898312439 -1.477832529104222</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="chest_mtb_acc_0b8" type="accelerometer">
+    <parent link="chest"/>
+    <origin rpy="0.5009600846888734 0.10731368898312439 -1.477832529104222" xyz="-0.045704699809265004 -0.0018460000000000004 0.0567427"/>
+  </sensor>
+  <gazebo reference="chest">
+    <sensor name="chest_mtb_acc_0b9" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.043903600190735 -0.0017841000000000037 0.0577221 -0.5009599289728343 0.10731540424780746 -1.663760174692588</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="chest_mtb_acc_0b9" type="accelerometer">
+    <parent link="chest"/>
+    <origin rpy="-0.5009599289728343 0.10731540424780746 -1.663760174692588" xyz="0.043903600190735 -0.0017841000000000037 0.0577221"/>
+  </sensor>
+  <gazebo reference="chest">
+    <sensor name="chest_mtb_acc_0b10" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.059428600190735 -0.0018543000000000032 0.0457981 -0.8751681534754429 0.11636202547856245 -1.6556180750511105</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="chest_mtb_acc_0b10" type="accelerometer">
+    <parent link="chest"/>
+    <origin rpy="-0.8751681534754429 0.11636202547856245 -1.6556180750511105" xyz="0.059428600190735 -0.0018543000000000032 0.0457981"/>
+  </sensor>
+  <gazebo reference="r_upper_arm">
+    <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
+    <parent link="r_upper_arm"/>
+    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+  </sensor>
+  <gazebo reference="r_upper_arm">
+    <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>-0.0430568 0.028679999999999983 0.07606039999999997 -1.5707961469548437 -1.5705035074059788 0.45902172521853346</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="r_upper_arm_mtb_acc_2b11" type="accelerometer">
+    <parent link="r_upper_arm"/>
+    <origin rpy="-1.5707961469548437 -1.5705035074059788 0.45902172521853346" xyz="-0.0430568 0.028679999999999983 0.07606039999999997"/>
+  </sensor>
+  <gazebo reference="r_upper_arm">
+    <sensor name="r_upper_arm_mtb_acc_2b12" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>-0.043055399999999994 0.028680999999999984 0.004992199999999981 -1.1117744216835481 -1.5707963267948963 0.0</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="r_upper_arm_mtb_acc_2b12" type="accelerometer">
+    <parent link="r_upper_arm"/>
+    <origin rpy="-1.1117744216835481 -1.5707963267948963 0.0" xyz="-0.043055399999999994 0.028680999999999984 0.004992199999999981"/>
+  </sensor>
+  <gazebo reference="r_upper_arm">
+    <sensor name="r_upper_arm_mtb_acc_2b13" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.010593236999999991 0.028350000000000042 -0.010737999999999998 1.5707963270155092 -0.00021452036204109946 2.4780367445076594</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="r_upper_arm_mtb_acc_2b13" type="accelerometer">
+    <parent link="r_upper_arm"/>
+    <origin rpy="1.5707963270155092 -0.00021452036204109946 2.4780367445076594" xyz="0.010593236999999991 0.028350000000000042 -0.010737999999999998"/>
+  </sensor>
+  <gazebo reference="r_forearm">
+    <sensor name="r_forearm_mtb_acc_2b7" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
+    <parent link="r_forearm"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
+  </sensor>
+  <gazebo reference="r_forearm">
+    <sensor name="r_forearm_mtb_acc_2b8" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>-0.051418615079553955 0.015786000000000022 0.04075215372773191 -0.6611439460918275 0.14782524846115597 0.0920701147029676</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="r_forearm_mtb_acc_2b8" type="accelerometer">
+    <parent link="r_forearm"/>
+    <origin rpy="-0.6611439460918275 0.14782524846115597 0.0920701147029676" xyz="-0.051418615079553955 0.015786000000000022 0.04075215372773191"/>
+  </sensor>
+  <gazebo reference="r_forearm">
+    <sensor name="r_forearm_mtb_acc_2b9" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
+    <parent link="r_forearm"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
+  </sensor>
+  <gazebo reference="l_upper_arm">
+    <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>-0.04305539999999998 -0.028681000000000012 0.029527899999999982 -1.5707965066353287 -1.5705035074059785 2.682570928371256</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="l_upper_arm_mtb_acc_1b10" type="accelerometer">
+    <parent link="l_upper_arm"/>
+    <origin rpy="-1.5707965066353287 -1.5705035074059785 2.682570928371256" xyz="-0.04305539999999998 -0.028681000000000012 0.029527899999999982"/>
+  </sensor>
+  <gazebo reference="l_upper_arm">
+    <sensor name="l_upper_arm_mtb_acc_1b11" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>-0.04121809999999999 -0.029589000000000004 0.07606039999999997 -1.5707965066353287 -1.5705035074059785 2.682570928371256</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="l_upper_arm_mtb_acc_1b11" type="accelerometer">
+    <parent link="l_upper_arm"/>
+    <origin rpy="-1.5707965066353287 -1.5705035074059785 2.682570928371256" xyz="-0.04121809999999999 -0.029589000000000004 0.07606039999999997"/>
+  </sensor>
+  <gazebo reference="l_upper_arm">
+    <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
+    <parent link="l_upper_arm"/>
+    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+  </sensor>
+  <gazebo reference="l_upper_arm">
+    <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.010592709000000004 -0.028350999999999987 -0.008691400000000002 -1.5707963265742841 0.0002145203620417656 -2.478036744507659</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="l_upper_arm_mtb_acc_1b13" type="accelerometer">
+    <parent link="l_upper_arm"/>
+    <origin rpy="-1.5707963265742841 0.0002145203620417656 -2.478036744507659" xyz="0.010592709000000004 -0.028350999999999987 -0.008691400000000002"/>
+  </sensor>
+  <gazebo reference="l_forearm">
+    <sensor name="l_forearm_mtb_acc_1b7" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
+    <parent link="l_forearm"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
+  </sensor>
+  <gazebo reference="l_forearm">
+    <sensor name="l_forearm_mtb_acc_1b8" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.05142417406065745 -0.0180279 0.040750725843601086 -0.6611439460918274 0.1478252484611559 -3.049522538886825</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="l_forearm_mtb_acc_1b8" type="accelerometer">
+    <parent link="l_forearm"/>
+    <origin rpy="-0.6611439460918274 0.1478252484611559 -3.049522538886825" xyz="0.05142417406065745 -0.0180279 0.040750725843601086"/>
+  </sensor>
+  <gazebo reference="l_forearm">
+    <sensor name="l_forearm_mtb_acc_1b9" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
+    <parent link="l_forearm"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
+  </sensor>
+  <gazebo reference="r_upper_leg">
+    <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>-0.012575099999999999 0.04040709999999999 -0.040226999999999985 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="r_upper_leg_ems_acc_eb8" type="accelerometer">
+    <parent link="r_upper_leg"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012575099999999999 0.04040709999999999 -0.040226999999999985"/>
+  </sensor>
+  <gazebo reference="r_upper_leg">
+    <sensor name="r_upper_leg_ems_acc_eb11" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>-0.012577100000000015 -0.040406899999999996 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="r_upper_leg_ems_acc_eb11" type="accelerometer">
+    <parent link="r_upper_leg"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577100000000015 -0.040406899999999996 -0.08340699999999998"/>
+  </sensor>
+  <gazebo reference="r_upper_leg">
+    <sensor name="r_upper_leg_ems_gyro_eb8" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>-0.013078999999999993 0.04040709999999999 -0.035654999999999964 1.5707963267948972 1.5707963267948961 0.0</pose>
+    </sensor>
+  </gazebo>
+  <sensor name="r_upper_leg_ems_gyro_eb8" type="gyroscope">
+    <parent link="r_upper_leg"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013078999999999993 0.04040709999999999 -0.035654999999999964"/>
+  </sensor>
+  <gazebo reference="r_upper_leg">
+    <sensor name="r_upper_leg_ems_gyro_eb11" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>-0.013081000000000016 -0.040406899999999996 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+    </sensor>
+  </gazebo>
+  <sensor name="r_upper_leg_ems_gyro_eb11" type="gyroscope">
+    <parent link="r_upper_leg"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000016 -0.040406899999999996 -0.087979"/>
+  </sensor>
+  <gazebo reference="r_upper_leg">
+    <sensor name="r_upper_leg_mtb_acc_11b1" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.043588627999999977 -0.030194899999999983 0.048939999999999984 2.526708438028075 -1.5704448425270146 -0.2228738249803637</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="r_upper_leg_mtb_acc_11b1" type="accelerometer">
+    <parent link="r_upper_leg"/>
+    <origin rpy="2.526708438028075 -1.5704448425270146 -0.2228738249803637" xyz="0.043588627999999977 -0.030194899999999983 0.048939999999999984"/>
+  </sensor>
+  <gazebo reference="r_upper_leg">
+    <sensor name="r_upper_leg_mtb_acc_11b2" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.053946699999999986 -0.006406499999999982 0.03905600000000001 -3.129402120569715 -1.570381814956552 -0.2739898525693509</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="r_upper_leg_mtb_acc_11b2" type="accelerometer">
+    <parent link="r_upper_leg"/>
+    <origin rpy="-3.129402120569715 -1.570381814956552 -0.2739898525693509" xyz="0.053946699999999986 -0.006406499999999982 0.03905600000000001"/>
+  </sensor>
+  <gazebo reference="r_upper_leg">
+    <sensor name="r_upper_leg_mtb_acc_11b3" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.053831299999999985 -0.013021400000000002 0.0039859999999999896 -2.8773108545103274 -1.5703518030956078 -0.2642818239915216</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="r_upper_leg_mtb_acc_11b3" type="accelerometer">
+    <parent link="r_upper_leg"/>
+    <origin rpy="-2.8773108545103274 -1.5703518030956078 -0.2642818239915216" xyz="0.053831299999999985 -0.013021400000000002 0.0039859999999999896"/>
+  </sensor>
+  <gazebo reference="r_upper_leg">
+    <sensor name="r_upper_leg_mtb_acc_11b4" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.0322719 0.04226749999999999 -0.005044999999999994 -1.873909988092778 -1.570257713256341 -0.08085890295708932</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="r_upper_leg_mtb_acc_11b4" type="accelerometer">
+    <parent link="r_upper_leg"/>
+    <origin rpy="-1.873909988092778 -1.570257713256341 -0.08085890295708932" xyz="0.0322719 0.04226749999999999 -0.005044999999999994"/>
+  </sensor>
+  <gazebo reference="r_upper_leg">
+    <sensor name="r_upper_leg_mtb_acc_11b5" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.053831299999999985 0.016478599999999996 0.0039859999999999896 -2.8773108545103274 -1.5703518030956078 -0.2642818239915216</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="r_upper_leg_mtb_acc_11b5" type="accelerometer">
+    <parent link="r_upper_leg"/>
+    <origin rpy="-2.8773108545103274 -1.5703518030956078 -0.2642818239915216" xyz="0.053831299999999985 0.016478599999999996 0.0039859999999999896"/>
+  </sensor>
+  <gazebo reference="r_upper_leg">
+    <sensor name="r_upper_leg_mtb_acc_11b6" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>-0.043751799999999993 -0.015759400000000007 -0.026565000000000033 1.9541027553387757e-17 1.5703672368014803 -3.141592653589793</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="r_upper_leg_mtb_acc_11b6" type="accelerometer">
+    <parent link="r_upper_leg"/>
+    <origin rpy="1.9541027553387757e-17 1.5703672368014803 -3.141592653589793" xyz="-0.043751799999999993 -0.015759400000000007 -0.026565000000000033"/>
+  </sensor>
+  <gazebo reference="r_upper_leg">
+    <sensor name="r_upper_leg_mtb_acc_11b7" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>-0.04375179999999998 0.016238599999999992 -0.026566000000000006 0.26425252390070647 1.5703518066171935 -2.8773401047797322</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="r_upper_leg_mtb_acc_11b7" type="accelerometer">
+    <parent link="r_upper_leg"/>
+    <origin rpy="0.26425252390070647 1.5703518066171935 -2.8773401047797322" xyz="-0.04375179999999998 0.016238599999999992 -0.026566000000000006"/>
+  </sensor>
+  <gazebo reference="r_lower_leg">
+    <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
+    <parent link="r_lower_leg"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
+  </sensor>
+  <gazebo reference="r_lower_leg">
+    <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+    </sensor>
+  </gazebo>
+  <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
+    <parent link="r_lower_leg"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
+  </sensor>
+  <gazebo reference="r_lower_leg">
+    <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.05362923999999998 -0.015195799999999995 -0.0043179999999999885 -1.5707969943117426 -1.5706802100981876 -1.8151418254260296</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="r_lower_leg_mtb_acc_11b8" type="accelerometer">
+    <parent link="r_lower_leg"/>
+    <origin rpy="-1.5707969943117426 -1.5706802100981876 -1.8151418254260296" xyz="0.05362923999999998 -0.015195799999999995 -0.0043179999999999885"/>
+  </sensor>
+  <gazebo reference="r_lower_leg">
+    <sensor name="r_lower_leg_mtb_acc_11b9" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.05375166999999999 0.01572289999999999 -0.0043179999999999885 -1.5707962918857017 -1.5706802104434696 -1.2217307214946516</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="r_lower_leg_mtb_acc_11b9" type="accelerometer">
+    <parent link="r_lower_leg"/>
+    <origin rpy="-1.5707962918857017 -1.5706802104434696 -1.2217307214946516" xyz="0.05375166999999999 0.01572289999999999 -0.0043179999999999885"/>
+  </sensor>
+  <gazebo reference="r_lower_leg">
+    <sensor name="r_lower_leg_mtb_acc_11b10" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.027894499999999982 -0.0422139 -0.04346800000000001 1.8325955062747417 -1.5707963267948963 0.0</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="r_lower_leg_mtb_acc_11b10" type="accelerometer">
+    <parent link="r_lower_leg"/>
+    <origin rpy="1.8325955062747417 -1.5707963267948963 0.0" xyz="0.027894499999999982 -0.0422139 -0.04346800000000001"/>
+  </sensor>
+  <gazebo reference="r_lower_leg">
+    <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
+    <parent link="r_lower_leg"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
+  </sensor>
+  <gazebo reference="r_foot">
+    <sensor name="r_foot_mtb_acc_11b12" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.10347939999999997 -0.000812199999999999 -0.001214999999999966 1.4648752297108978e-16 2.2204452113283224e-16 -1.5707960430308967</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="r_foot_mtb_acc_11b12" type="accelerometer">
+    <parent link="r_foot"/>
+    <origin rpy="1.4648752297108978e-16 2.2204452113283224e-16 -1.5707960430308967" xyz="0.10347939999999997 -0.000812199999999999 -0.001214999999999966"/>
+  </sensor>
+  <gazebo reference="r_foot">
+    <sensor name="r_foot_mtb_acc_11b13" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.07847939999999998 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
+    <parent link="r_foot"/>
+    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999998 -0.011812200000000009 -0.001214999999999966"/>
+  </sensor>
+  <gazebo reference="l_upper_leg">
+    <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>-0.012577000000000005 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
+    <parent link="l_upper_leg"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000005 -0.04040720000000002 -0.08340699999999998"/>
+  </sensor>
+  <gazebo reference="l_upper_leg">
+    <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>-0.012574999999999996 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
+    <parent link="l_upper_leg"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012574999999999996 0.04040679999999998 -0.040226999999999985"/>
+  </sensor>
+  <gazebo reference="l_upper_leg">
+    <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>-0.01308100000000001 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+    </sensor>
+  </gazebo>
+  <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
+    <parent link="l_upper_leg"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.01308100000000001 -0.04040720000000002 -0.087979"/>
+  </sensor>
+  <gazebo reference="l_upper_leg">
+    <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>-0.013078999999999993 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+    </sensor>
+  </gazebo>
+  <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
+    <parent link="l_upper_leg"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999993 0.04040679999999998 -0.035654999999999964"/>
+  </sensor>
+  <gazebo reference="l_upper_leg">
+    <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.04200169 0.03156479999999999 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
+    <parent link="l_upper_leg"/>
+    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.04200169 0.03156479999999999 0.04913199999999998"/>
+  </sensor>
+  <gazebo reference="l_upper_leg">
+    <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.05352114999999999 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
+    <parent link="l_upper_leg"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999999 0.007765700000000014 0.03925200000000001"/>
+  </sensor>
+  <gazebo reference="l_upper_leg">
+    <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
+    <parent link="l_upper_leg"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
+  </sensor>
+  <gazebo reference="l_upper_leg">
+    <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.053784999999999986 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
+    <parent link="l_upper_leg"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429400000000002 0.0041819999999999635"/>
+  </sensor>
+  <gazebo reference="l_upper_leg">
+    <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.03412954999999999 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
+    <parent link="l_upper_leg"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999999 -0.0414999 -0.004858000000000029"/>
+  </sensor>
+  <gazebo reference="l_upper_leg">
+    <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>-0.04378499999999999 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
+    <parent link="l_upper_leg"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999999 0.017810999999999994 -0.02641099999999999"/>
+  </sensor>
+  <gazebo reference="l_upper_leg">
+    <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>-0.043785000000000004 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
+    <parent link="l_upper_leg"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785000000000004 -0.014191800000000011 -0.02641099999999999"/>
+  </sensor>
+  <gazebo reference="l_lower_leg">
+    <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.043513791999999996 0.011314499999999963 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
+    <parent link="l_lower_leg"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.043513791999999996 0.011314499999999963 -0.09276499999999999"/>
+  </sensor>
+  <gazebo reference="l_lower_leg">
+    <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.044503353999999995 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
+    </sensor>
+  </gazebo>
+  <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
+    <parent link="l_lower_leg"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503353999999995 0.011818499999999968 -0.08830099999999996"/>
+  </sensor>
+  <gazebo reference="l_lower_leg">
+    <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.05313352999999999 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
+    <parent link="l_lower_leg"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313352999999999 0.017184099999999994 -0.0043179999999999885"/>
+  </sensor>
+  <gazebo reference="l_lower_leg">
+    <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.054451899999999984 -0.013799100000000009 -0.0043179999999999885 -1.5707963664504991 -1.5706802104435666 -1.919861927351539</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="l_lower_leg_mtb_acc_10b9" type="accelerometer">
+    <parent link="l_lower_leg"/>
+    <origin rpy="-1.5707963664504991 -1.5706802104435666 -1.919861927351539" xyz="0.054451899999999984 -0.013799100000000009 -0.0043179999999999885"/>
+  </sensor>
+  <gazebo reference="l_lower_leg">
+    <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.025915200000000003 0.04274479999999997 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
+    <parent link="l_lower_leg"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.025915200000000003 0.04274479999999997 -0.04346800000000001"/>
+  </sensor>
+  <gazebo reference="l_lower_leg">
+    <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.018459299999999984 -0.041718700000000025 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
+    <parent link="l_lower_leg"/>
+    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999984 -0.041718700000000025 -0.09295800000000004"/>
+  </sensor>
+  <gazebo reference="l_foot">
+    <sensor name="l_foot_mtb_acc_10b12" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.10552739999999997 0.0008122000000000129 -0.001214999999999966 0.0 -0.0 1.5707963267948966</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="l_foot_mtb_acc_10b12" type="accelerometer">
+    <parent link="l_foot"/>
+    <origin rpy="0.0 -0.0 1.5707963267948966" xyz="0.10552739999999997 0.0008122000000000129 -0.001214999999999966"/>
+  </sensor>
+  <gazebo reference="l_foot">
+    <sensor name="l_foot_mtb_acc_10b13" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.08052739999999997 0.011812200000000002 -0.001214999999999966 0.0 -0.0 1.5707963267948966</pose>
+      <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
+    </sensor>
+  </gazebo>
+  <sensor name="l_foot_mtb_acc_10b13" type="accelerometer">
+    <parent link="l_foot"/>
+    <origin rpy="0.0 -0.0 1.5707963267948966" xyz="0.08052739999999997 0.011812200000000002 -0.001214999999999966"/>
+  </sensor>
+  <gazebo reference="r_hip_2">
+    <sensor name="r_upper_leg_ft_acc_3b11" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.006563800000000002 -0.008586100000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+    </sensor>
+  </gazebo>
+  <sensor name="r_upper_leg_ft_acc_3b11" type="accelerometer">
+    <parent link="r_hip_2"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006563800000000002 -0.008586100000000013 -0.059281999999999946"/>
+  </sensor>
+  <gazebo reference="r_hip_2">
+    <sensor name="r_upper_leg_ft_gyro_3b11" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.006563800000000002 -0.008586100000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+    </sensor>
+  </gazebo>
+  <sensor name="r_upper_leg_ft_gyro_3b11" type="gyroscope">
+    <parent link="r_hip_2"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006563800000000002 -0.008586100000000013 -0.059281999999999946"/>
+  </sensor>
+  <gazebo reference="r_ankle_2">
+    <sensor name="r_foot_ft_acc_3b14" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.0040000999999999926 -0.00860000000000001 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+    </sensor>
+  </gazebo>
+  <sensor name="r_foot_ft_acc_3b14" type="accelerometer">
+    <parent link="r_ankle_2"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040000999999999926 -0.00860000000000001 -0.045282000000000044"/>
+  </sensor>
+  <gazebo reference="r_ankle_2">
+    <sensor name="r_foot_ft_gyro_3b14" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.0040000999999999926 -0.00860000000000001 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+    </sensor>
+  </gazebo>
+  <sensor name="r_foot_ft_gyro_3b14" type="gyroscope">
+    <parent link="r_ankle_2"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040000999999999926 -0.00860000000000001 -0.045282000000000044"/>
+  </sensor>
+  <gazebo reference="l_hip_2">
+    <sensor name="l_upper_leg_ft_acc_3b12" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+    </sensor>
+  </gazebo>
+  <sensor name="l_upper_leg_ft_acc_3b12" type="accelerometer">
+    <parent link="l_hip_2"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
+  </sensor>
+  <gazebo reference="l_hip_2">
+    <sensor name="l_upper_leg_ft_gyro_3b12" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+    </sensor>
+  </gazebo>
+  <sensor name="l_upper_leg_ft_gyro_3b12" type="gyroscope">
+    <parent link="l_hip_2"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
+  </sensor>
+  <gazebo reference="l_ankle_2">
+    <sensor name="l_foot_ft_acc_3b13" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+    </sensor>
+  </gazebo>
+  <sensor name="l_foot_ft_acc_3b13" type="accelerometer">
+    <parent link="l_ankle_2"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
+  </sensor>
+  <gazebo reference="l_ankle_2">
+    <sensor name="l_foot_ft_gyro_3b13" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+    </sensor>
+  </gazebo>
+  <sensor name="l_foot_ft_gyro_3b13" type="gyroscope">
+    <parent link="l_ankle_2"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
+  </sensor>
+  <gazebo>
+    <pose>0.0 0.0 0.63 0.0 0.0 3.14</pose>
+  </gazebo>
+</robot>
diff --git a/iCub/robots/iCubGazeboV2_5/model.urdf b/iCub/robots/iCubGazeboV2_5/model.urdf
index a2fd141..332206e 100644
--- a/iCub/robots/iCubGazeboV2_5/model.urdf
+++ b/iCub/robots/iCubGazeboV2_5/model.urdf
@@ -23,12 +23,12 @@
   </link>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -37,7 +37,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -199,7 +199,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
+    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -213,7 +213,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
+    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -241,7 +241,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
+    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -269,21 +269,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
+    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
+    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
+    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -318,14 +318,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
+    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
+    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -339,21 +339,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
+    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
+    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
+    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -374,14 +374,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
+    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
+    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -402,7 +402,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
+    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -416,7 +416,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
+    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -511,12 +511,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.033600099999999994 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.03360009999999998 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.382866"/>
       <inertia ixx="0.00120946" ixy="3.74585e-07" ixz="-5.78759e-05" iyy="0.00141439" iyz="-7.80325e-06" izz="0.000273599"/>
     </inertial>
     <visual>
-      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -539,14 +539,14 @@
   </joint>
   <link name="r_sole"/>
   <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.003500000000000003 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
+    <origin xyz="0.003499999999999996 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_0"/>
   <joint name="r_sole_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.060476699999999994 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.06047669999999999 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_0"/>
     <dynamics damping="0.1"/>
@@ -560,14 +560,14 @@
   </joint>
   <link name="r_sole_skin_2"/>
   <joint name="r_sole_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.09320869999999999 -0.032368 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.09320869999999998 -0.032368 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_3"/>
   <joint name="r_sole_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.11158309999999998 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.11158309999999996 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_3"/>
     <dynamics damping="0.1"/>
@@ -609,112 +609,112 @@
   </joint>
   <link name="r_sole_skin_12"/>
   <joint name="r_sole_skin_12_fixed_joint" type="fixed">
-    <origin xyz="0.08286799999999998 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.08286799999999997 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_12"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_13"/>
   <joint name="r_sole_skin_13_fixed_joint" type="fixed">
-    <origin xyz="0.10124239999999998 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.10124239999999997 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_13"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_14"/>
   <joint name="r_sole_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.050136039999999986 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.05013603999999998 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_14"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_15"/>
   <joint name="r_sole_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.04611918999999999 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.046119189999999984 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_17"/>
   <joint name="r_sole_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.02968549999999999 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.029685499999999997 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_18"/>
   <joint name="r_sole_skin_18_fixed_joint" type="fixed">
-    <origin xyz="-0.0480599 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.04805990000000001 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_18"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_19"/>
   <joint name="r_sole_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.052076700000000004 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.05207670000000001 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_20"/>
   <joint name="r_sole_skin_20_fixed_joint" type="fixed">
-    <origin xyz="-0.03771920000000001 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.037719200000000015 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_21"/>
   <joint name="r_sole_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.03577849999999999 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.03577849999999998 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_21"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_22"/>
   <joint name="r_sole_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.027744799999999997 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.02774479999999999 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_22"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_24"/>
   <joint name="r_sole_skin_24_fixed_joint" type="fixed">
-    <origin xyz="-0.004987199999999997 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.004987200000000004 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_24"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_25"/>
   <joint name="r_sole_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.013387200000000002 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.013387199999999995 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_25"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_26"/>
   <joint name="r_sole_skin_26_fixed_joint" type="fixed">
-    <origin xyz="0.017404099999999992 0.0133722 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.017404099999999985 0.0133722 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_26"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_27"/>
   <joint name="r_sole_skin_27_fixed_joint" type="fixed">
-    <origin xyz="0.0030464999999999867 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.0030464999999999798 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_27"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_28"/>
   <joint name="r_sole_skin_28_fixed_joint" type="fixed">
-    <origin xyz="-0.015327899999999992 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.015327899999999998 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_28"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_29"/>
   <joint name="r_sole_skin_29_fixed_joint" type="fixed">
-    <origin xyz="-0.019344799999999995 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.019344800000000002 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_29"/>
     <dynamics damping="0.1"/>
@@ -938,12 +938,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
+      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.01" iyz="1.19785e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -952,15 +952,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
-    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
+    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -989,7 +989,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
+    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -1026,12 +1026,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="0.01" iyz="3.92498e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1040,7 +1040,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1056,7 +1056,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -1077,7 +1077,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -1086,35 +1086,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1135,14 +1135,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -1170,7 +1170,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -1191,35 +1191,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1254,19 +1254,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="0.01" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="0.01" iyz="-1.59685e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1275,14 +1275,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -1312,7 +1312,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -1358,12 +1358,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
+      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.01" iyz="1.20112e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1372,15 +1372,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
-    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
+    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -1409,7 +1409,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
+    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -1446,7 +1446,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="0.01" iyz="3.9319e-06" izz="0.01"/>
     </inertial>
@@ -1476,7 +1476,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -1497,7 +1497,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -1506,35 +1506,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1555,7 +1555,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -1576,7 +1576,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -1611,35 +1611,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1653,7 +1653,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1674,19 +1674,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="0.01" ixy="3.08362e-08" ixz="9.42153e-07" iyy="0.01" iyz="-1.58924e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1695,14 +1695,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1732,7 +1732,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1748,12 +1748,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1762,7 +1762,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1778,12 +1778,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0011062999999999976 1.730000000001175e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0011062999999999906 1.7299999999997873e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.415987"/>
       <inertia ixx="0.000475741" ixy="2.89355e-07" ixz="-6.72876e-08" iyy="0.000279828" iyz="6.7417e-06" izz="0.000307828"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1792,14 +1792,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
+    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1808,12 +1808,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.00012290000000000217 -0.0002822999999999992 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012289999999999524 -0.00028229999999998534 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="0.01" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="0.01" iyz="3.32338e-08" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1822,26 +1822,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008301999999999962 7.519999999999749e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008301999999999893 7.519999999998361e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868999999999913 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868999999999982 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1850,7 +1850,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1866,7 +1866,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.051256699999999995 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.05125669999999999 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1880,12 +1880,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.0009997999999999951 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.000999800000000002 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1894,7 +1894,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1910,12 +1910,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015153099999999989 0.0009020000000000139 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.015153099999999996 0.000902 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447429734460005" ixy="-1.1322603878053663e-06" ixz="3.046651057758992e-05" iyy="0.0004478873540695352" iyz="2.5726583414130826e-06" izz="0.0003076030453774591"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1924,7 +1924,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1940,12 +1940,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011446999999999985 3.599999999992498e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0011447000000000054 3.5999999999786203e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.265122"/>
       <inertia ixx="0.01" ixy="-4.74606e-08" ixz="4.94571e-08" iyy="0.01" iyz="-4.29975e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1954,7 +1954,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1991,7 +1991,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.003500000000000003 0 -0.0605" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.003499999999999996 0 -0.0605" rpy="3.141592653589793 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2658,13 +2658,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2706,13 +2706,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2754,13 +2754,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2778,13 +2778,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2814,13 +2814,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2838,13 +2838,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2862,13 +2862,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -3004,24 +3004,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -3063,13 +3063,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
@@ -3087,178 +3087,178 @@
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07847939999999999 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
+      <pose>0.07847939999999998 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999999 -0.011812200000000009 -0.001214999999999966"/>
+    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999998 -0.011812200000000009 -0.001214999999999966"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012577000000000012 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.012577000000000005 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000012 -0.04040720000000002 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000005 -0.04040720000000002 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012575000000000003 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012574999999999996 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575000000000003 0.04040679999999998 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012574999999999996 0.04040679999999998 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013081000000000016 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.01308100000000001 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000016 -0.04040720000000002 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.01308100000000001 -0.04040720000000002 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013079 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.013078999999999993 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013079 0.04040679999999998 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999993 0.04040679999999998 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.042001689999999994 0.03156479999999999 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
+      <pose>0.04200169 0.03156479999999999 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.042001689999999994 0.03156479999999999 0.04913199999999998"/>
+    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.04200169 0.03156479999999999 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352114999999998 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352114999999999 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999998 0.007765700000000014 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999999 0.007765700000000014 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999998 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053784999999999986 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999998 -0.014429400000000002 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429400000000002 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.03412954999999998 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412954999999999 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999998 -0.0414999 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999999 -0.0414999 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.04378499999999999 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043785 0.017810999999999994 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999999 0.017810999999999994 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378500000000001 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.043785000000000004 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378500000000001 -0.014191800000000011 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785000000000004 -0.014191800000000011 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351379199999999 0.011314499999999963 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.043513791999999996 0.011314499999999963 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351379199999999 0.011314499999999963 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.043513791999999996 0.011314499999999963 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450335399999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.044503353999999995 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450335399999999 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503353999999995 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053133529999999984 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.05313352999999999 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133529999999984 0.017184099999999994 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313352999999999 0.017184099999999994 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
@@ -3276,25 +3276,25 @@
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915199999999996 0.04274479999999997 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.025915200000000003 0.04274479999999997 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915199999999996 0.04274479999999997 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.025915200000000003 0.04274479999999997 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999977 -0.041718700000000025 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
+      <pose>0.018459299999999984 -0.041718700000000025 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999977 -0.041718700000000025 -0.09295800000000004"/>
+    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999984 -0.041718700000000025 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
@@ -3368,45 +3368,45 @@
     <sensor name="l_upper_leg_ft_acc_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_acc_3b12" type="accelerometer">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_hip_2">
     <sensor name="l_upper_leg_ft_gyro_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_gyro_3b12" type="gyroscope">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_acc_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_acc_3b13" type="accelerometer">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_gyro_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_gyro_3b13" type="gyroscope">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
   </sensor>
   <gazebo>
     <pose>0.0 0.0 0.63 0.0 0.0 3.14</pose>
diff --git a/iCub/robots/iCubGazeboV2_5_plus/model.urdf b/iCub/robots/iCubGazeboV2_5_plus/model.urdf
index 9788760..e666461 100644
--- a/iCub/robots/iCubGazeboV2_5_plus/model.urdf
+++ b/iCub/robots/iCubGazeboV2_5_plus/model.urdf
@@ -247,12 +247,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
+      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.01" iyz="1.19785e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -261,15 +261,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
-    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
+    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -298,7 +298,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
+    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -335,12 +335,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="0.01" iyz="3.92498e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -349,7 +349,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -365,7 +365,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -386,7 +386,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -395,35 +395,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -444,14 +444,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -479,7 +479,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -500,35 +500,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -542,7 +542,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -563,19 +563,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="0.01" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="0.01" iyz="-1.59685e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -584,14 +584,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -621,7 +621,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -667,12 +667,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
+      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.01" iyz="1.20112e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -681,15 +681,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
-    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
+    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -718,7 +718,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
+    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -755,7 +755,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="0.01" iyz="3.9319e-06" izz="0.01"/>
     </inertial>
@@ -785,7 +785,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -806,7 +806,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -815,35 +815,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -864,7 +864,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -885,7 +885,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -920,35 +920,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -962,7 +962,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -983,19 +983,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="0.01" ixy="3.08362e-08" ixz="9.42153e-07" iyy="0.01" iyz="-1.58924e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1004,14 +1004,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1041,7 +1041,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1057,12 +1057,12 @@
   </joint>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1071,7 +1071,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.058310299999999995 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
+    <origin xyz="0.058310299999999995 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1247,7 +1247,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208552 0.03044339999999998 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
+    <origin xyz="0.05208552 0.03044339999999998 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -1275,7 +1275,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999999 -0.03117600000000001 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
+    <origin xyz="0.05504769999999999 -0.03117600000000001 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -1303,21 +1303,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.035753400000000005 0.04106279999999999 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
+    <origin xyz="0.035753400000000005 0.04106279999999999 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.023441900000000012 0.04799079999999998 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
+    <origin xyz="0.023441900000000012 0.04799079999999998 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.02427040000000001 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
+    <origin xyz="0.02427040000000001 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -1352,14 +1352,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.047748659999999984 -0.031231999999999996 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
+    <origin xyz="0.047748659999999984 -0.031231999999999996 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322408999999999 -0.01560180000000004 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
+    <origin xyz="0.05322408999999999 -0.01560180000000004 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -1373,21 +1373,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880466999999999 -0.031263 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
+    <origin xyz="0.04880466999999999 -0.031263 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999999 -0.01591290000000002 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
+    <origin xyz="0.05660089999999999 -0.01591290000000002 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.057010599999999995 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
+    <origin xyz="0.057010599999999995 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -1408,14 +1408,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641629999999995 0.01763889999999997 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
+    <origin xyz="0.052641629999999995 0.01763889999999997 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113137 0.032438499999999953 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
+    <origin xyz="0.04113137 0.032438499999999953 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -1436,7 +1436,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998319999999995 0.0012663999999999592 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
+    <origin xyz="0.052998319999999995 0.0012663999999999592 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -1450,7 +1450,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127079999999986 -0.030749000000000026 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
+    <origin xyz="0.045127079999999986 -0.030749000000000026 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -1485,12 +1485,12 @@
   </joint>
   <link name="r_ankle_1">
     <inertial>
-      <origin xyz="0.015143405473968807 -0.0008685000000000082 4.2859082720503316e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.015143405473968821 -0.0008685000000000082 4.2859082720503316e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.6803"/>
       <inertia ixx="0.0004046207392315529" ixy="8.523488844593136e-06" ixz="-2.8913590319053794e-05" iyy="0.0004379396781535379" iyz="3.7330395179426065e-05" izz="0.00031892819418424145"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272424511755 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424511754 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1499,7 +1499,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272424511755 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424511754 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1515,12 +1515,12 @@
   </joint>
   <link name="r_ankle_2">
     <inertial>
-      <origin xyz="0.0011452157753235048 -8.299999999988872e-06 -0.038511854107377785" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.0011452157753235187 -8.299999999988872e-06 -0.038511854107377785" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.265337"/>
       <inertia ixx="0.01" ixy="-7.94989e-08" ixz="8.24551e-09" iyy="0.01" iyz="2.0701e-05" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272442308745 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442308744 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1529,7 +1529,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272442308745 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442308744 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1537,7 +1537,7 @@
   </link>
   <joint name="r_ankle_roll" type="revolute">
     <origin xyz="0 0 0" rpy="0 0 0"/>
-    <axis xyz="-1.0000001561184808 -6.013654019199066e-16 1.197939497389039e-07"/>
+    <axis xyz="-1.0000001561184808 -6.013654019199066e-16 1.1979394973216095e-07"/>
     <parent link="r_ankle_1"/>
     <child link="r_ankle_2"/>
     <limit effort="37.0" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="7.64"/>
@@ -1545,12 +1545,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.039779742643594365 0.004553699994905444 -0.006311816589999797" rpy="-1.832595507822573 0 -1.5707963267948983"/>
+      <origin xyz="0.039779742643594365 0.004553699994905444 -0.006311816589999797" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
       <mass value="0.357881"/>
       <inertia ixx="0.00109611" ixy="-2.9193e-07" ixz="-3.70109e-05" iyy="0.00125706" iyz="5.10952e-06" izz="0.000215359"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.832595507822573 0 -1.5707963267948983"/>
+      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1566,7 +1566,7 @@
     </collision>
   </link>
   <joint name="r_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.0034999280659716164 0 -0.060500343280208146" rpy="3.141592652417863 0 0"/>
+    <origin xyz="-0.0034999280659716026 0 -0.060500343280208146" rpy="3.141592652417863 0 0"/>
     <parent link="r_ankle_2"/>
     <child link="r_foot"/>
     <dynamics damping="0.1"/>
@@ -1580,12 +1580,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1594,7 +1594,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1610,12 +1610,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0015761999999999998 -1.939999999998887e-05 -0.04405299999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0015761999999999929 -1.940000000000275e-05 -0.04405299999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.421106"/>
       <inertia ixx="0.000494284" ixy="1.5483e-07" ixz="-1.86308e-07" iyy="0.000288736" iyz="1.52962e-05" izz="0.000319008"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1624,14 +1624,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
+    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1640,12 +1640,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.0001229999999999981 -0.000282300000000027 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012299999999999117 -0.0002823000000000131 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="0.01" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="0.01" iyz="3.32338e-08" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370899980932098 0.07010000000001013 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.043708999809320984 0.07010000000001014 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1654,26 +1654,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370899980932098 0.07010000000001013 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.043708999809320984 0.07010000000001014 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008575000000000041 0 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008574999999999972 0 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868000000000023 0.00010179999999999911 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868000000000092 0.00010179999999999911 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370899980932098 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043708999809320984 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1682,7 +1682,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370899980932098 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043708999809320984 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1698,7 +1698,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.05125669999999998 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.051256699999999975 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1712,12 +1712,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.0009997000000000061 0.0034968999999999834 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.000999700000000013 0.0034968999999999834 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370899980931698 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980931699 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1726,7 +1726,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370899980931698 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980931699 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1742,12 +1742,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015152971856010333 0.0009021000000000029 4.2316556559285345e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.015152971856010347 0.0009021000000000029 4.2316556559285345e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447618553062084" ixy="-8.97867775831874e-06" ixz="2.9134846047326194e-05" iyy="0.00043720150287133953" iyz="3.730206268073148e-05" izz="0.00031828795462876227"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272424516864 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424516862 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1756,7 +1756,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272424516864 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424516862 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1772,12 +1772,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011452157753235326 -8.299999999974994e-06 -0.038511854107377674" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.0011452157753235465 -8.299999999974994e-06 -0.038511854107377674" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.265337"/>
       <inertia ixx="0.01" ixy="-7.94989e-08" ixz="8.24551e-09" iyy="0.01" iyz="2.0701e-05" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272442313178 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442313177 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1786,7 +1786,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272442313178 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442313177 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1794,7 +1794,7 @@
   </link>
   <joint name="l_ankle_roll" type="revolute">
     <origin xyz="0 0 0" rpy="0 0 0"/>
-    <axis xyz="1.0000001561184808 6.013654019199066e-16 -1.197939497389039e-07"/>
+    <axis xyz="1.0000001561184808 6.013654019199066e-16 -1.1979394973216095e-07"/>
     <parent link="l_ankle_1"/>
     <child link="l_ankle_2"/>
     <limit effort="37.0" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="7.64"/>
@@ -1823,7 +1823,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.0034999280659716164 0 -0.060500343280208146" rpy="-3.141592643239301 0 0"/>
+    <origin xyz="-0.0034999280659716026 0 -0.060500343280208146" rpy="-3.141592643239301 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2315,13 +2315,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2363,13 +2363,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2411,13 +2411,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2435,13 +2435,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2471,13 +2471,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2495,13 +2495,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2519,13 +2519,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -2661,24 +2661,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351373 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04351373 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351373 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351373 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.044503292 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.044503292 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.044503292 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503292 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -2696,13 +2696,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0537517 0.01572289999999999 -0.0043179999999999885 -1.5707962918786202 -1.5706802104434698 -1.221730721500941</pose>
+      <pose>0.0537517 0.01572289999999999 -0.0043179999999999885 -1.5707962918765586 -1.5706802104434696 -1.2217307215014315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707962918786202 -1.5706802104434698 -1.221730721500941" xyz="0.0537517 0.01572289999999999 -0.0043179999999999885"/>
+    <origin rpy="-1.5707962918765586 -1.5706802104434696 -1.2217307215014315" xyz="0.0537517 0.01572289999999999 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b10" type="imu">
@@ -2720,238 +2720,238 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.01648010000000001 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.01648010000000001 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
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   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
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   </gazebo>
   <sensor name="r_foot_mtb_acc_11b12" type="accelerometer">
     <parent link="r_foot"/>
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   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
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   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
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   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.0125771 -0.040407200000000004 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.0125771 -0.040407200000000004 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577099999999994 -0.040407200000000004 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012575099999999992 0.040407 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012575099999999985 0.040407 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575099999999992 0.040407 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575099999999985 0.040407 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013081000000000002 -0.040407200000000004 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.013080999999999995 -0.040407200000000004 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000002 -0.040407200000000004 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013080999999999995 -0.040407200000000004 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013078999999999986 0.040407 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.01307899999999998 0.040407 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999986 0.040407 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.01307899999999998 0.040407 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04200163 0.03156500000000001 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
+      <pose>0.042001630000000005 0.03156500000000001 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.04200163 0.03156500000000001 0.04913199999999998"/>
+    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.042001630000000005 0.03156500000000001 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352108999999999 0.007765700000000028 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352109 0.007765700000000028 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352108999999999 0.007765700000000028 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352109 0.007765700000000028 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053785 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053785 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 -0.014429399999999995 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999999 -0.014429399999999995 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429399999999995 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 -0.014429399999999995 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.034129489999999985 -0.041499899999999985 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412948999999999 -0.041499899999999985 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.034129489999999985 -0.041499899999999985 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412948999999999 -0.041499899999999985 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043784999999999984 0.01781110000000001 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.04378499999999998 0.01781110000000001 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043784999999999984 0.01781110000000001 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999998 0.01781110000000001 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785 -0.014191799999999997 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.04378499999999999 -0.014191799999999997 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785 -0.014191799999999997 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378499999999999 -0.014191799999999997 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.043513729999999994 0.011314599999999966 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04351373 0.011314599999999966 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.043513729999999994 0.011314599999999966 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351373 0.011314599999999966 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450329199999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.044503292 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450329199999999 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503292 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053133469999999995 0.017184100000000008 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.05313347 0.017184100000000008 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133469999999995 0.017184100000000008 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313347 0.017184100000000008 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05445179999999999 -0.013799100000000002 -0.0043179999999999885 -1.5707963664504991 -1.5706802104435666 -1.919861927351539</pose>
+      <pose>0.054451799999999995 -0.013799100000000002 -0.0043179999999999885 -1.5707963664504991 -1.5706802104435666 -1.919861927351539</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b9" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707963664504991 -1.5706802104435666 -1.919861927351539" xyz="0.05445179999999999 -0.013799100000000002 -0.0043179999999999885"/>
+    <origin rpy="-1.5707963664504991 -1.5706802104435666 -1.919861927351539" xyz="0.054451799999999995 -0.013799100000000002 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915100000000003 0.042743999999999976 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.02591510000000001 0.042743999999999976 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915100000000003 0.042743999999999976 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.02591510000000001 0.042743999999999976 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999988 -0.04171870000000001 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
+      <pose>0.018459299999999994 -0.04171870000000001 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999988 -0.04171870000000001 -0.09295800000000004"/>
+    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999994 -0.04171870000000001 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
diff --git a/iCub/robots/iCubGazeboV2_6/model.urdf b/iCub/robots/iCubGazeboV2_6/model.urdf
index 4024cab..cdfb5bb 100644
--- a/iCub/robots/iCubGazeboV2_6/model.urdf
+++ b/iCub/robots/iCubGazeboV2_6/model.urdf
@@ -23,12 +23,12 @@
   </link>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -37,7 +37,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -199,7 +199,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
+    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -213,7 +213,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
+    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -241,7 +241,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
+    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -269,21 +269,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
+    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
+    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
+    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -318,14 +318,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
+    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
+    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -339,21 +339,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
+    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
+    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
+    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -374,14 +374,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
+    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
+    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -402,7 +402,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
+    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -416,7 +416,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
+    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -511,12 +511,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.033600099999999994 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.03360009999999998 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.382866"/>
       <inertia ixx="0.00120946" ixy="3.74585e-07" ixz="-5.78759e-05" iyy="0.00141439" iyz="-7.80325e-06" izz="0.000273599"/>
     </inertial>
     <visual>
-      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -539,14 +539,14 @@
   </joint>
   <link name="r_sole"/>
   <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.003500000000000003 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
+    <origin xyz="0.003499999999999996 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_0"/>
   <joint name="r_sole_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.060476699999999994 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.06047669999999999 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_0"/>
     <dynamics damping="0.1"/>
@@ -560,14 +560,14 @@
   </joint>
   <link name="r_sole_skin_2"/>
   <joint name="r_sole_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.09320869999999999 -0.032368 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.09320869999999998 -0.032368 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_3"/>
   <joint name="r_sole_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.11158309999999998 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.11158309999999996 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_3"/>
     <dynamics damping="0.1"/>
@@ -609,112 +609,112 @@
   </joint>
   <link name="r_sole_skin_12"/>
   <joint name="r_sole_skin_12_fixed_joint" type="fixed">
-    <origin xyz="0.08286799999999998 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.08286799999999997 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_12"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_13"/>
   <joint name="r_sole_skin_13_fixed_joint" type="fixed">
-    <origin xyz="0.10124239999999998 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.10124239999999997 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_13"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_14"/>
   <joint name="r_sole_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.050136039999999986 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.05013603999999998 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_14"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_15"/>
   <joint name="r_sole_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.04611918999999999 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.046119189999999984 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_17"/>
   <joint name="r_sole_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.02968549999999999 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.029685499999999997 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_18"/>
   <joint name="r_sole_skin_18_fixed_joint" type="fixed">
-    <origin xyz="-0.0480599 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.04805990000000001 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_18"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_19"/>
   <joint name="r_sole_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.052076700000000004 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.05207670000000001 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_20"/>
   <joint name="r_sole_skin_20_fixed_joint" type="fixed">
-    <origin xyz="-0.03771920000000001 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.037719200000000015 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_21"/>
   <joint name="r_sole_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.03577849999999999 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.03577849999999998 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_21"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_22"/>
   <joint name="r_sole_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.027744799999999997 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.02774479999999999 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_22"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_24"/>
   <joint name="r_sole_skin_24_fixed_joint" type="fixed">
-    <origin xyz="-0.004987199999999997 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.004987200000000004 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_24"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_25"/>
   <joint name="r_sole_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.013387200000000002 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.013387199999999995 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_25"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_26"/>
   <joint name="r_sole_skin_26_fixed_joint" type="fixed">
-    <origin xyz="0.017404099999999992 0.0133722 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.017404099999999985 0.0133722 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_26"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_27"/>
   <joint name="r_sole_skin_27_fixed_joint" type="fixed">
-    <origin xyz="0.0030464999999999867 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.0030464999999999798 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_27"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_28"/>
   <joint name="r_sole_skin_28_fixed_joint" type="fixed">
-    <origin xyz="-0.015327899999999992 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.015327899999999998 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_28"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_29"/>
   <joint name="r_sole_skin_29_fixed_joint" type="fixed">
-    <origin xyz="-0.019344799999999995 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.019344800000000002 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_29"/>
     <dynamics damping="0.1"/>
@@ -938,12 +938,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
+      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.01" iyz="1.19785e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -952,15 +952,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
-    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
+    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -989,7 +989,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
+    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -1026,12 +1026,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="0.01" iyz="3.92498e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1040,7 +1040,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1056,7 +1056,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -1077,7 +1077,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -1086,35 +1086,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1135,14 +1135,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -1170,7 +1170,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -1191,35 +1191,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1254,19 +1254,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="0.01" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="0.01" iyz="-1.59685e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1275,14 +1275,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -1312,7 +1312,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -1358,12 +1358,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
+      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.01" iyz="1.20112e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1372,15 +1372,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
-    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
+    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -1409,7 +1409,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
+    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -1446,7 +1446,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="0.01" iyz="3.9319e-06" izz="0.01"/>
     </inertial>
@@ -1476,7 +1476,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -1497,7 +1497,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -1506,35 +1506,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1555,7 +1555,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -1576,7 +1576,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -1611,35 +1611,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1653,7 +1653,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1674,19 +1674,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="0.01" ixy="3.08362e-08" ixz="9.42153e-07" iyy="0.01" iyz="-1.58924e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1695,14 +1695,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1732,7 +1732,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1748,12 +1748,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1762,7 +1762,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1778,12 +1778,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0011062999999999976 1.730000000001175e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0011062999999999906 1.7299999999997873e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.415987"/>
       <inertia ixx="0.000475741" ixy="2.89355e-07" ixz="-6.72876e-08" iyy="0.000279828" iyz="6.7417e-06" izz="0.000307828"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1792,14 +1792,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
+    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1808,12 +1808,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.00012290000000000217 -0.0002822999999999992 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012289999999999524 -0.00028229999999998534 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="0.01" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="0.01" iyz="3.32338e-08" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1822,26 +1822,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008301999999999962 7.519999999999749e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008301999999999893 7.519999999998361e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868999999999913 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868999999999982 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1850,7 +1850,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1866,7 +1866,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.051256699999999995 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.05125669999999999 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1880,12 +1880,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.0009997999999999951 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.000999800000000002 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1894,7 +1894,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1910,12 +1910,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015153099999999989 0.0009020000000000139 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.015153099999999996 0.000902 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447429734460005" ixy="-1.1322603878053663e-06" ixz="3.046651057758992e-05" iyy="0.0004478873540695352" iyz="2.5726583414130826e-06" izz="0.0003076030453774591"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1924,7 +1924,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1940,12 +1940,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011446999999999985 3.599999999992498e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0011447000000000054 3.5999999999786203e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.265122"/>
       <inertia ixx="0.01" ixy="-4.74606e-08" ixz="4.94571e-08" iyy="0.01" iyz="-4.29975e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1954,7 +1954,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1991,7 +1991,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.003500000000000003 0 -0.0605" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.003499999999999996 0 -0.0605" rpy="3.141592653589793 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2658,13 +2658,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2706,13 +2706,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2754,13 +2754,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2778,13 +2778,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2814,13 +2814,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2838,13 +2838,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2862,13 +2862,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -3004,24 +3004,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -3063,13 +3063,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
@@ -3087,178 +3087,178 @@
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07847939999999999 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
+      <pose>0.07847939999999998 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999999 -0.011812200000000009 -0.001214999999999966"/>
+    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999998 -0.011812200000000009 -0.001214999999999966"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012577000000000012 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.012577000000000005 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000012 -0.04040720000000002 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000005 -0.04040720000000002 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012575000000000003 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012574999999999996 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575000000000003 0.04040679999999998 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012574999999999996 0.04040679999999998 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013081000000000016 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.01308100000000001 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000016 -0.04040720000000002 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.01308100000000001 -0.04040720000000002 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013079 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.013078999999999993 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013079 0.04040679999999998 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999993 0.04040679999999998 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.042001689999999994 0.03156479999999999 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
+      <pose>0.04200169 0.03156479999999999 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.042001689999999994 0.03156479999999999 0.04913199999999998"/>
+    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.04200169 0.03156479999999999 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352114999999998 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352114999999999 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999998 0.007765700000000014 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999999 0.007765700000000014 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999998 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053784999999999986 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999998 -0.014429400000000002 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429400000000002 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.03412954999999998 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412954999999999 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999998 -0.0414999 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999999 -0.0414999 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.04378499999999999 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043785 0.017810999999999994 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999999 0.017810999999999994 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378500000000001 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.043785000000000004 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378500000000001 -0.014191800000000011 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785000000000004 -0.014191800000000011 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351379199999999 0.011314499999999963 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.043513791999999996 0.011314499999999963 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351379199999999 0.011314499999999963 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.043513791999999996 0.011314499999999963 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450335399999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.044503353999999995 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450335399999999 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503353999999995 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053133529999999984 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.05313352999999999 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133529999999984 0.017184099999999994 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313352999999999 0.017184099999999994 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
@@ -3276,25 +3276,25 @@
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915199999999996 0.04274479999999997 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.025915200000000003 0.04274479999999997 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915199999999996 0.04274479999999997 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.025915200000000003 0.04274479999999997 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999977 -0.041718700000000025 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
+      <pose>0.018459299999999984 -0.041718700000000025 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999977 -0.041718700000000025 -0.09295800000000004"/>
+    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999984 -0.041718700000000025 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
@@ -3368,45 +3368,45 @@
     <sensor name="l_upper_leg_ft_acc_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_acc_3b12" type="accelerometer">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_hip_2">
     <sensor name="l_upper_leg_ft_gyro_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_gyro_3b12" type="gyroscope">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_acc_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_acc_3b13" type="accelerometer">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_gyro_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_gyro_3b13" type="gyroscope">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
   </sensor>
   <gazebo>
     <pose>0.0 0.0 0.63 0.0 0.0 3.14</pose>
diff --git a/iCub/robots/iCubGazeboV2_7/model.urdf b/iCub/robots/iCubGazeboV2_7/model.urdf
index 3dba975..5d055d0 100644
--- a/iCub/robots/iCubGazeboV2_7/model.urdf
+++ b/iCub/robots/iCubGazeboV2_7/model.urdf
@@ -23,12 +23,12 @@
   </link>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -37,7 +37,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -199,7 +199,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
+    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -213,7 +213,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
+    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -241,7 +241,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
+    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -269,21 +269,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
+    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
+    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
+    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -318,14 +318,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
+    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
+    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -339,21 +339,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
+    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
+    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
+    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -374,14 +374,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
+    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
+    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -402,7 +402,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
+    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -416,7 +416,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
+    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -511,12 +511,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.033600099999999994 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.03360009999999998 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.382866"/>
       <inertia ixx="0.00120946" ixy="3.74585e-07" ixz="-5.78759e-05" iyy="0.00141439" iyz="-7.80325e-06" izz="0.000273599"/>
     </inertial>
     <visual>
-      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -539,14 +539,14 @@
   </joint>
   <link name="r_sole"/>
   <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.003500000000000003 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
+    <origin xyz="0.003499999999999996 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_0"/>
   <joint name="r_sole_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.060476699999999994 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.06047669999999999 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_0"/>
     <dynamics damping="0.1"/>
@@ -560,14 +560,14 @@
   </joint>
   <link name="r_sole_skin_2"/>
   <joint name="r_sole_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.09320869999999999 -0.032368 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.09320869999999998 -0.032368 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_3"/>
   <joint name="r_sole_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.11158309999999998 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.11158309999999996 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_3"/>
     <dynamics damping="0.1"/>
@@ -609,112 +609,112 @@
   </joint>
   <link name="r_sole_skin_12"/>
   <joint name="r_sole_skin_12_fixed_joint" type="fixed">
-    <origin xyz="0.08286799999999998 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.08286799999999997 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_12"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_13"/>
   <joint name="r_sole_skin_13_fixed_joint" type="fixed">
-    <origin xyz="0.10124239999999998 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.10124239999999997 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_13"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_14"/>
   <joint name="r_sole_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.050136039999999986 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.05013603999999998 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_14"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_15"/>
   <joint name="r_sole_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.04611918999999999 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.046119189999999984 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_17"/>
   <joint name="r_sole_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.02968549999999999 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.029685499999999997 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_18"/>
   <joint name="r_sole_skin_18_fixed_joint" type="fixed">
-    <origin xyz="-0.0480599 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.04805990000000001 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_18"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_19"/>
   <joint name="r_sole_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.052076700000000004 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.05207670000000001 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_20"/>
   <joint name="r_sole_skin_20_fixed_joint" type="fixed">
-    <origin xyz="-0.03771920000000001 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.037719200000000015 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_21"/>
   <joint name="r_sole_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.03577849999999999 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.03577849999999998 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_21"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_22"/>
   <joint name="r_sole_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.027744799999999997 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.02774479999999999 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_22"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_24"/>
   <joint name="r_sole_skin_24_fixed_joint" type="fixed">
-    <origin xyz="-0.004987199999999997 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.004987200000000004 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_24"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_25"/>
   <joint name="r_sole_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.013387200000000002 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.013387199999999995 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_25"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_26"/>
   <joint name="r_sole_skin_26_fixed_joint" type="fixed">
-    <origin xyz="0.017404099999999992 0.0133722 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.017404099999999985 0.0133722 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_26"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_27"/>
   <joint name="r_sole_skin_27_fixed_joint" type="fixed">
-    <origin xyz="0.0030464999999999867 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.0030464999999999798 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_27"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_28"/>
   <joint name="r_sole_skin_28_fixed_joint" type="fixed">
-    <origin xyz="-0.015327899999999992 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.015327899999999998 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_28"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_29"/>
   <joint name="r_sole_skin_29_fixed_joint" type="fixed">
-    <origin xyz="-0.019344799999999995 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.019344800000000002 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_29"/>
     <dynamics damping="0.1"/>
@@ -938,12 +938,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
+      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.01" iyz="1.19785e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -952,15 +952,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
-    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
+    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -989,7 +989,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
+    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -1026,12 +1026,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="0.01" iyz="3.92498e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1040,7 +1040,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1056,7 +1056,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -1077,7 +1077,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -1086,35 +1086,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1135,14 +1135,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -1170,7 +1170,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -1191,35 +1191,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1254,19 +1254,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="0.01" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="0.01" iyz="-1.59685e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1275,14 +1275,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -1312,7 +1312,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -1358,12 +1358,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
+      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.01" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.01" iyz="1.20112e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1372,15 +1372,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
-    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
+    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -1409,7 +1409,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
+    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -1446,7 +1446,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="0.01" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="0.01" iyz="3.9319e-06" izz="0.01"/>
     </inertial>
@@ -1476,7 +1476,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -1497,7 +1497,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -1506,35 +1506,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1555,7 +1555,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -1576,7 +1576,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -1611,35 +1611,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1653,7 +1653,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1674,19 +1674,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="0.01" ixy="3.08362e-08" ixz="9.42153e-07" iyy="0.01" iyz="-1.58924e-07" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1695,14 +1695,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1732,7 +1732,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1748,12 +1748,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1762,7 +1762,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1778,12 +1778,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0011062999999999976 1.730000000001175e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0011062999999999906 1.7299999999997873e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.415987"/>
       <inertia ixx="0.000475741" ixy="2.89355e-07" ixz="-6.72876e-08" iyy="0.000279828" iyz="6.7417e-06" izz="0.000307828"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1792,14 +1792,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
+    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1808,12 +1808,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.00012290000000000217 -0.0002822999999999992 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012289999999999524 -0.00028229999999998534 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="0.01" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="0.01" iyz="3.32338e-08" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1822,26 +1822,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008301999999999962 7.519999999999749e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008301999999999893 7.519999999998361e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868999999999913 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868999999999982 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1850,7 +1850,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1866,7 +1866,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.051256699999999995 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.05125669999999999 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1880,12 +1880,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.0009997999999999951 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.000999800000000002 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1894,7 +1894,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1910,12 +1910,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015153099999999989 0.0009020000000000139 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.015153099999999996 0.000902 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447429734460005" ixy="-1.1322603878053663e-06" ixz="3.046651057758992e-05" iyy="0.0004478873540695352" iyz="2.5726583414130826e-06" izz="0.0003076030453774591"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1924,7 +1924,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1940,12 +1940,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011446999999999985 3.599999999992498e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0011447000000000054 3.5999999999786203e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.265122"/>
       <inertia ixx="0.01" ixy="-4.74606e-08" ixz="4.94571e-08" iyy="0.01" iyz="-4.29975e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1954,7 +1954,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1991,7 +1991,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.003500000000000003 0 -0.0605" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.003499999999999996 0 -0.0605" rpy="3.141592653589793 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2674,13 +2674,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2722,13 +2722,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2770,13 +2770,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2794,13 +2794,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2830,13 +2830,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2854,13 +2854,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2878,13 +2878,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -3020,24 +3020,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -3079,13 +3079,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
@@ -3103,178 +3103,178 @@
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07847939999999999 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
+      <pose>0.07847939999999998 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999999 -0.011812200000000009 -0.001214999999999966"/>
+    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999998 -0.011812200000000009 -0.001214999999999966"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012577000000000012 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.012577000000000005 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000012 -0.04040720000000002 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000005 -0.04040720000000002 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012575000000000003 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012574999999999996 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575000000000003 0.04040679999999998 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012574999999999996 0.04040679999999998 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013081000000000016 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.01308100000000001 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000016 -0.04040720000000002 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.01308100000000001 -0.04040720000000002 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013079 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.013078999999999993 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013079 0.04040679999999998 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999993 0.04040679999999998 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.042001689999999994 0.03156479999999999 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
+      <pose>0.04200169 0.03156479999999999 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.042001689999999994 0.03156479999999999 0.04913199999999998"/>
+    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.04200169 0.03156479999999999 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352114999999998 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352114999999999 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999998 0.007765700000000014 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999999 0.007765700000000014 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999998 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053784999999999986 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999998 -0.014429400000000002 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429400000000002 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.03412954999999998 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412954999999999 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999998 -0.0414999 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999999 -0.0414999 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.04378499999999999 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043785 0.017810999999999994 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999999 0.017810999999999994 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378500000000001 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.043785000000000004 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378500000000001 -0.014191800000000011 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785000000000004 -0.014191800000000011 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351379199999999 0.011314499999999963 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.043513791999999996 0.011314499999999963 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351379199999999 0.011314499999999963 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.043513791999999996 0.011314499999999963 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450335399999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.044503353999999995 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450335399999999 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503353999999995 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053133529999999984 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.05313352999999999 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133529999999984 0.017184099999999994 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313352999999999 0.017184099999999994 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
@@ -3292,25 +3292,25 @@
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915199999999996 0.04274479999999997 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.025915200000000003 0.04274479999999997 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915199999999996 0.04274479999999997 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.025915200000000003 0.04274479999999997 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999977 -0.041718700000000025 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
+      <pose>0.018459299999999984 -0.041718700000000025 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999977 -0.041718700000000025 -0.09295800000000004"/>
+    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999984 -0.041718700000000025 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
@@ -3384,45 +3384,45 @@
     <sensor name="l_upper_leg_ft_acc_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_acc_3b12" type="accelerometer">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_hip_2">
     <sensor name="l_upper_leg_ft_gyro_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_gyro_3b12" type="gyroscope">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_acc_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_acc_3b13" type="accelerometer">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_gyro_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_gyro_3b13" type="gyroscope">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
   </sensor>
   <gazebo>
     <pose>0.0 0.0 0.63 0.0 0.0 3.14</pose>
diff --git a/iCub/robots/iCubGazeboV3/model.urdf b/iCub/robots/iCubGazeboV3/model.urdf
index 176d8d0..daf947c 100644
--- a/iCub/robots/iCubGazeboV3/model.urdf
+++ b/iCub/robots/iCubGazeboV3/model.urdf
@@ -149,7 +149,7 @@
   </link>
   <joint name="r_shoulder_pitch" type="revolute">
     <origin xyz="-0.020835100000000002 -0.0397423 0.1052029" rpy="-0.25326164431680925 2.3014774394592079e-07 0.26179970938509745"/>
-    <axis xyz="1.499044390098182e-07 0.9999999783534812 -1.2401537036323317e-07"/>
+    <axis xyz="1.499044390054707e-07 0.9999999783534812 -1.2401537036188515e-07"/>
     <parent link="chest"/>
     <child link="r_shoulder_1"/>
     <limit effort="50000" lower="-1.53588974175501" upper="0.22689280275926285" velocity="120.0"/>
@@ -157,12 +157,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="0.000711844151437005 -0.00028997131506725005 -0.027865575116629175" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.0007118441514370015 -0.0002899713150672778 -0.027865575116629175" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <mass value="0.322126"/>
       <inertia ixx="0.01" ixy="3.44034e-05" ixz="2.39129e-05" iyy="0.01" iyz="-5.45925e-05" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.02389326106684632 0.1415317167619924 -0.007252350207672714" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.023893261066846316 0.14153171676199236 -0.007252350207672715" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -171,15 +171,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.02389326106684632 0.1415317167619924 -0.007252350207672714" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.023893261066846316 0.14153171676199236 -0.007252350207672715" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="0.007489008185044645 -0.11150041046657978 0.0004027858966975245" rpy="0.17453306234069352 -0.05374779257913059 -6.132332688804098e-07"/>
-    <axis xyz="-0.9999998262417886 4.210501434612913e-08 2.4630481182686846e-08"/>
+    <origin xyz="0.007489008185044645 -0.11150041046657978 0.0004027858966975245" rpy="0.17453306234069357 -0.053747792579130614 -6.132332688812785e-07"/>
+    <axis xyz="-0.9999998262417886 4.2105014356162707e-08 2.4630481189336084e-08"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.20943951023931956" upper="2.792526803190927" velocity="120.0"/>
@@ -187,12 +187,12 @@
   </joint>
   <link name="r_shoulder_3">
     <inertial>
-      <origin xyz="-8.928496484206933e-05 -3.376971940446949e-05 -0.007594500252887257" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="-8.928496484206933e-05 -3.376971940446949e-05 -0.00759450025288725" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <mass value="0.258699"/>
       <inertia ixx="0.01" ixy="5.87638e-07" ixz="-2.8754e-06" iyy="0.01" iyz="-3.42816e-06" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.030743207452236198 0.1415314977120318 0.047047631370218286" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.030743207452236198 0.1415314977120318 0.04704763137021829" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -201,26 +201,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.030743207452236198 0.1415314977120318 0.047047631370218286" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.030743207452236198 0.1415314977120318 0.04704763137021829" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_arm_ft_sensor" type="fixed">
-    <origin xyz="-0.006849946385389872 2.1904996058697002e-07 -0.05429998157789099" rpy="0 0 0"/>
+    <origin xyz="-0.006849946385389875 2.1904996055921444e-07 -0.05429998157789099" rpy="0 0 0"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_upper_arm">
     <inertial>
-      <origin xyz="-4.827495476422694e-06 -0.001943485876269635 -0.04747357932833829" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="-4.8274954764261635e-06 -0.001943485876269635 -0.04747357932833829" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <mass value="2.06334"/>
       <inertia ixx="0.00382639" ixy="-5.03894e-06" ixz="0.000205684" iyy="0.00368146" iyz="0.000261155" izz="0.00167002"/>
     </inertial>
     <visual>
-      <origin xyz="0.03074312554381852 0.141531075879301 0.06954757274337188" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.030743125543818518 0.141531075879301 0.06954757274337188" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -229,15 +229,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.03074312554381852 0.141531075879301 0.06954757274337188" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.030743125543818518 0.141531075879301 0.06954757274337188" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="0 4.2183273077367467e-07 -0.02249994137315358" rpy="0 0 0"/>
-    <axis xyz="-3.787621790776764e-08 2.805197706023475e-08 1.0000002566182309"/>
+    <origin xyz="0 4.2183273077367467e-07 -0.022499941373153573" rpy="0 0 0"/>
+    <axis xyz="-3.787621790513063e-08 2.805197706068352e-08 1.0000002566182309"/>
     <parent link="r_shoulder_3"/>
     <child link="r_upper_arm"/>
     <limit effort="50000" lower="-0.8726646259971648" upper="1.3962634015954636" velocity="120.0"/>
@@ -245,12 +245,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.011624818009452066 -0.0018028159470199479 0.022300137248866647" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="-0.011624818009452066 -0.00180281594701992 0.022300137248866647" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <mass value="0.397478"/>
       <inertia ixx="0.01" ixy="5.80993e-06" ixz="5.27143e-05" iyy="0.01" iyz="6.49755e-05" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.020743193621214673 0.14003143574727356 0.19324791023291824" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.020743193621214673 0.14003143574727359 0.19324791023291824" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_elbow_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -259,15 +259,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.020743193621214673 0.14003143574727356 0.19324791023291824" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.020743193621214673 0.14003143574727359 0.19324791023291824" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_elbow_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_elbow" type="revolute">
-    <origin xyz="0.00999993192260382 0.0014996401320274133 -0.1237003374895465" rpy="0 0 0"/>
-    <axis xyz="2.4949582807394525e-07 -1.0000002733514362 2.7942487010105877e-08"/>
+    <origin xyz="0.009999931922603816 0.0014996401320274133 -0.1237003374895465" rpy="0 0 0"/>
+    <axis xyz="2.4949582809984105e-07 -1.0000002733514362 2.7942487004772865e-08"/>
     <parent link="r_upper_arm"/>
     <child link="r_elbow_1"/>
     <limit effort="50000" lower="-0.05235987755982989" upper="1.3089969389957472" velocity="120.0"/>
@@ -296,8 +296,8 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.014999869468812953 -0.0019996499053189787 -0.05530006367251966" rpy="0 0 0"/>
-    <axis xyz="-3.787621790776764e-08 2.805197706023475e-08 1.0000002566182309"/>
+    <origin xyz="-0.014999869468812953 -0.001999649905318951 -0.05530006367251966" rpy="0 0 0"/>
+    <axis xyz="-3.787621790513063e-08 2.805197706068352e-08 1.0000002566182309"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
     <limit effort="50000" lower="-1.53588974175501" upper="1.53588974175501" velocity="120.0"/>
@@ -305,12 +305,12 @@
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="-0.014389827079018234 0.0005092753390521787 -9.78731576423697e-05" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="-0.014389827079018234 0.0005092753390522065 -9.787315764231419e-05" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <mass value="0.0344005"/>
       <inertia ixx="0.01" ixy="9.19776e-07" ixz="1.47559e-08" iyy="0.01" iyz="-1.11493e-07" izz="0.01"/>
     </inertial>
     <visual>
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+      <origin xyz="0.019443109736078983 0.1440385285434042 0.35604805361754455" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -319,7 +319,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.019443109736078983 0.14403852854340418 0.3560480536175445" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.019443109736078983 0.1440385285434042 0.35604805361754455" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -327,7 +327,7 @@
   </link>
   <joint name="r_wrist_pitch" type="revolute">
     <origin xyz="0.016299953353948633 -0.002007442890811839 -0.10750007971210637" rpy="0 0 0"/>
-    <axis xyz="0.9999998262417886 -4.210501434612913e-08 -2.4630481182686846e-08"/>
+    <axis xyz="0.9999998262417886 -4.2105014356162707e-08 -2.4630481189336084e-08"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
     <limit effort="50000" lower="-1.2217304763960306" upper="0.4363323129985824" velocity="120.0"/>
@@ -335,12 +335,12 @@
   </joint>
   <link name="r_hand">
     <inertial>
-      <origin xyz="0.004828314385249669 0.00615667237451184 -0.0671378028889843" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.004828314385249662 0.00615667237451184 -0.0671378028889843" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <mass value="0.264229"/>
       <inertia ixx="0.01" ixy="4.7873e-05" ixz="1.1114e-05" iyy="0.01" iyz="1.14469e-05" izz="0.01"/>
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     <visual>
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+      <origin xyz="0.03574323261035171 0.1370391384923124 0.35604813291443793" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_hand_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -349,27 +349,27 @@
       </material>
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-      <origin xyz="0.03574323261035172 0.1370391384923124 0.35604813291443793" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.03574323261035171 0.1370391384923124 0.35604813291443793" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_hand_prt.stl" scale="0.001 0.001 0.001"/>
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     </collision>
   </link>
   <joint name="r_wrist_yaw" type="continuous">
-    <origin xyz="-0.016300122874272734 0.006999390051091792 0" rpy="0 0 0"/>
-    <axis xyz="-2.4949582807394525e-07 1.0000002733514362 -2.7942487010105877e-08"/>
+    <origin xyz="-0.016300122874272734 0.0069993900510918194 0" rpy="0 0 0"/>
+    <axis xyz="-2.4949582809984105e-07 1.0000002733514362 -2.7942487004772865e-08"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_shoulder_1">
     <inertial>
-      <origin xyz="0.0002918276617865645 0.05723090680782866 0.0005026028232598678" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
+      <origin xyz="0.0002918276617865645 0.05723090680782866 0.0005026028232598713" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
       <mass value="1.45562"/>
       <inertia ixx="0.01" ixy="0.000611891" ixz="0.000565594" iyy="0.01" iyz="-0.000159546" izz="0.01"/>
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     <visual>
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+      <origin xyz="0.030411223823216205 -0.02914047750374663 0.019095766539677896" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -378,7 +378,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.030411223823216205 -0.02914047750374663 0.019095766539677893" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
+      <origin xyz="0.030411223823216205 -0.02914047750374663 0.019095766539677896" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -386,7 +386,7 @@
   </link>
   <joint name="l_shoulder_pitch" type="revolute">
     <origin xyz="-0.020835100000000002 0.0397423 0.1052029" rpy="0.25326162380993705 -1.1977334179319483e-07 -0.26179930184968747"/>
-    <axis xyz="3.323079797554136e-07 0.9999999783534342 1.4452224303420037e-07"/>
+    <axis xyz="3.323079797673039e-07 0.9999999783534342 1.4452224303407313e-07"/>
     <parent link="chest"/>
     <child link="l_shoulder_1"/>
     <limit effort="50000" lower="-1.53588974175501" upper="0.22689280275926285" velocity="120.0"/>
@@ -394,12 +394,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.003293362025486902 0.0002563804707528261 -0.027865685757097337" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="0.0032933620254868984 0.0002563804707528261 -0.027865685757097337" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <mass value="0.322126"/>
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     <visual>
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+      <origin xyz="0.0263930978691934 -0.141531126106492 -0.00725239764460193" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -408,15 +408,15 @@
       </material>
     </visual>
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-      <origin xyz="0.02639309786919337 -0.14153112610649202 -0.0072523976446019255" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="0.0263930978691934 -0.141531126106492 -0.00725239764460193" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
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     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="0.004992849331690818 0.111499838456099 0.00026865022773668243" rpy="-0.17453296140985003 -0.05374759931933849 0"/>
-    <axis xyz="0.9999998262417685 2.0348252625938444e-07 -4.023022846062156e-08"/>
+    <origin xyz="0.004992849331690818 0.111499838456099 0.0002686502277366859" rpy="-0.17453296140985 -0.05374759931933852 0"/>
+    <axis xyz="0.9999998262417684 2.0348252649342313e-07 -4.0230228454118944e-08"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.20943951023931956" upper="2.792526803190927" velocity="120.0"/>
@@ -424,12 +424,12 @@
   </joint>
   <link name="l_shoulder_3">
     <inertial>
-      <origin xyz="-4.416264022005789e-06 9.587749727052453e-05 -0.007326213473011087" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="-4.41626402200232e-06 9.587749727052453e-05 -0.007326213473011087" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <mass value="0.256128"/>
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     <visual>
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+      <origin xyz="0.030743231026171738 -0.14153148936381538 0.04704764107945979" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -438,26 +438,26 @@
       </material>
     </visual>
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-      <origin xyz="0.030743231026171703 -0.14153148936381538 0.047047641079459794" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
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       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
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   <joint name="l_arm_ft_sensor" type="fixed">
-    <origin xyz="-0.004350133156978318 3.632573233602887e-07 -0.05430003872406172" rpy="0 0 0"/>
+    <origin xyz="-0.004350133156978329 3.632573233880443e-07 -0.05430003872406172" rpy="0 0 0"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_arm">
     <inertial>
-      <origin xyz="-4.828549686676509e-06 0.0019434824578758204 -0.04747357946817407" rpy="-0.06212860830092193 0.0714268908124578 0.27099931149673545"/>
+      <origin xyz="-4.828549686676509e-06 0.0019434824578757927 -0.04747357946817407" rpy="-0.062128608300921935 0.07142689081245782 0.27099931149673573"/>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -466,15 +466,15 @@
       </material>
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     <collision>
-      <origin xyz="0.030743149468679162 -0.14153106591133113 0.06954758245258448" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="0.030743149468679197 -0.14153106591133113 0.06954758245258448" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
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   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0 -4.2345248449371375e-07 -0.022499941373124423" rpy="0 0 0"/>
-    <axis xyz="2.2276474049102235e-08 -4.393786247302041e-08 -1.0000002566182309"/>
+    <origin xyz="0 -4.2345248449371375e-07 -0.02249994137312443" rpy="0 0 0"/>
+    <axis xyz="2.227647404040578e-08 -4.393786245948661e-08 -1.0000002566182309"/>
     <parent link="l_shoulder_3"/>
     <child link="l_upper_arm"/>
     <limit effort="50000" lower="-0.8726646259971648" upper="1.3962634015954636" velocity="120.0"/>
@@ -482,12 +482,12 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="-0.010241946078109288 0.0018224069895867168 -0.015089620258555453" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="-0.010241946078109292 0.0018224069895867168 -0.01508962025855548" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
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+      <origin xyz="0.020743219233759866 -0.14003141848790232 0.19324791999016794" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_elbow_1_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -496,7 +496,7 @@
       </material>
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-      <origin xyz="0.020743219233759835 -0.14003141848790232 0.19324791999016797" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="0.020743219233759866 -0.14003141848790232 0.19324791999016794" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_elbow_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -504,7 +504,7 @@
   </link>
   <joint name="l_elbow" type="revolute">
     <origin xyz="0.009999930234919404 -0.001499647423428896 -0.12370033753758375" rpy="0 0 0"/>
-    <axis xyz="-8.811824174789715e-08 -1.0000002733514628 4.404736120498342e-08"/>
+    <axis xyz="-8.811824154381087e-08 -1.0000002733514628 4.4047361189014644e-08"/>
     <parent link="l_upper_arm"/>
     <child link="l_elbow_1"/>
     <limit effort="50000" lower="-0.05235987755982989" upper="1.3089969389957472" velocity="120.0"/>
@@ -512,12 +512,12 @@
   </joint>
   <link name="l_forearm">
     <inertial>
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+      <origin xyz="-0.006269874102298061 -4.68551245806359e-05 -0.030648347755607153" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
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+      <origin xyz="0.03574308988793752 -0.14203106199153712 0.24854798357264754" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_forearm_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -526,15 +526,15 @@
       </material>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_forearm_prt.stl" scale="0.001 0.001 0.001"/>
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   <joint name="l_wrist_prosup" type="revolute">
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-    <axis xyz="2.2276474049102235e-08 -4.393786247302041e-08 -1.0000002566182309"/>
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+    <axis xyz="2.227647404040578e-08 -4.393786245948661e-08 -1.0000002566182309"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
     <limit effort="50000" lower="-1.53588974175501" upper="1.53588974175501" velocity="120.0"/>
@@ -542,12 +542,12 @@
   </joint>
   <link name="l_wrist_1">
     <inertial>
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+      <origin xyz="-0.014390150453737368 -0.0005083960996520587 -9.893035257668714e-05" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
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+      <origin xyz="0.019143073953651363 -0.14403795720960977 0.3560476247151885" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
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@@ -556,15 +556,15 @@
       </material>
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   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.016600015934286182 0.0020068952180725685 -0.10749964114254112" rpy="0 0 0"/>
-    <axis xyz="-0.9999998262417685 -2.0348252625938444e-07 4.023022846062156e-08"/>
+    <origin xyz="0.016600015934286182 0.002006895218072541 -0.10749964114254112" rpy="0 0 0"/>
+    <axis xyz="-0.9999998262417684 -2.0348252649342313e-07 4.0230228454118944e-08"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
     <limit effort="50000" lower="-1.2217304763960306" upper="0.4363323129985824" velocity="120.0"/>
@@ -572,12 +572,12 @@
   </joint>
   <link name="l_hand">
     <inertial>
-      <origin xyz="0.004786523181334726 -0.0061337378723908265 -0.0672770617484692" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="0.004786523181334722 -0.0061337378723908265 -0.0672770617484692" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <mass value="0.263541"/>
       <inertia ixx="0.01" ixy="-4.77094e-05" ixz="-1.03141e-05" iyy="0.01" iyz="1.19895e-05" izz="0.01"/>
     </inertial>
     <visual>
-      <origin xyz="0.035443195698380774 -0.13703856452803848 0.35604770325391955" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="0.03544319569838081 -0.13703856452803848 0.35604770325391955" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_hand_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -586,15 +586,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.035443195698380774 -0.13703856452803848 0.35604770325391955" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="0.03544319569838081 -0.13703856452803848 0.35604770325391955" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_hand_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.016300121744729387 -0.006999392681571209 0" rpy="0 0 0"/>
-    <axis xyz="8.811824174789715e-08 1.0000002733514628 -4.404736120498342e-08"/>
+    <origin xyz="-0.016300121744729387 -0.0069993926815711816 0" rpy="0 0 0"/>
+    <axis xyz="8.811824154381087e-08 1.0000002733514628 -4.4047361189014644e-08"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
     <limit effort="50000" lower="-0.2617993877991494" upper="0.6108652381980153" velocity="120.0"/>
@@ -1524,7 +1524,7 @@
         <frame>sensor</frame>
         <measure_direction>child_to_parent</measure_direction>
       </force_torque>
-      <pose>-0.004350133156978318 3.632573233602887e-07 -0.05430003872406172 3.141592646862139 -3.10468332187885e-08 -1.5707962571980942</pose>
+      <pose>-0.004350133156978329 3.632573233880443e-07 -0.05430003872406172 3.141592646862139 -3.104683320142575e-08 -1.5707962571980942</pose>
       <plugin name="left_arm_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
   <yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_left_arm_ft.ini</yarpConfigurationFile>
 </plugin>
@@ -1536,7 +1536,7 @@
       <frame>sensor</frame>
       <measure_direction>child_to_parent</measure_direction>
     </force_torque>
-    <origin rpy="3.141592646862139 -3.10468332187885e-08 -1.5707962571980942" xyz="-0.004350133156978318 3.632573233602887e-07 -0.05430003872406172"/>
+    <origin rpy="3.141592646862139 -3.104683320142575e-08 -1.5707962571980942" xyz="-0.004350133156978329 3.632573233880443e-07 -0.05430003872406172"/>
   </sensor>
   <gazebo reference="r_arm_ft_sensor">
     <sensor name="r_arm_ft_sensor" type="force_torque">
@@ -1546,7 +1546,7 @@
         <frame>sensor</frame>
         <measure_direction>child_to_parent</measure_direction>
       </force_torque>
-      <pose>-0.006849946385389872 2.1904996058697002e-07 -0.05429998157789099 3.141592644717707 4.094299285979593e-08 1.5707964185756365</pose>
+      <pose>-0.006849946385389875 2.1904996055921444e-07 -0.05429998157789099 3.141592644717707 4.094299285979593e-08 1.5707964185756365</pose>
       <plugin name="right_arm_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
   <yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_right_arm_ft.ini</yarpConfigurationFile>
 </plugin>
@@ -1558,7 +1558,7 @@
       <frame>sensor</frame>
       <measure_direction>child_to_parent</measure_direction>
     </force_torque>
-    <origin rpy="3.141592644717707 4.094299285979593e-08 1.5707964185756365" xyz="-0.006849946385389872 2.1904996058697002e-07 -0.05429998157789099"/>
+    <origin rpy="3.141592644717707 4.094299285979593e-08 1.5707964185756365" xyz="-0.006849946385389875 2.1904996055921444e-07 -0.05429998157789099"/>
   </sensor>
   <gazebo reference="l_foot_front_ft_sensor">
     <sensor name="l_foot_front_ft_sensor" type="force_torque">
diff --git a/iCub/robots/iCubGenova01/model.urdf b/iCub/robots/iCubGenova01/model.urdf
index 676aece..1acd7d5 100644
--- a/iCub/robots/iCubGenova01/model.urdf
+++ b/iCub/robots/iCubGenova01/model.urdf
@@ -23,12 +23,12 @@
   </link>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -37,7 +37,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -199,7 +199,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
+    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -213,7 +213,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
+    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -241,7 +241,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
+    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -269,21 +269,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
+    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
+    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
+    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -318,14 +318,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
+    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
+    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -339,21 +339,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
+    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
+    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
+    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -374,14 +374,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
+    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
+    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -402,7 +402,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
+    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -416,7 +416,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
+    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -511,12 +511,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.033600099999999994 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.03360009999999998 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.382866"/>
       <inertia ixx="0.00120946" ixy="3.74585e-07" ixz="-5.78759e-05" iyy="0.00141439" iyz="-7.80325e-06" izz="0.000273599"/>
     </inertial>
     <visual>
-      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -525,7 +525,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -539,14 +539,14 @@
   </joint>
   <link name="r_sole"/>
   <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.003500000000000003 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
+    <origin xyz="0.003499999999999996 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_0"/>
   <joint name="r_sole_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.060476699999999994 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.06047669999999999 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_0"/>
     <dynamics damping="0.1"/>
@@ -560,14 +560,14 @@
   </joint>
   <link name="r_sole_skin_2"/>
   <joint name="r_sole_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.09320869999999999 -0.032368 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.09320869999999998 -0.032368 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_3"/>
   <joint name="r_sole_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.11158309999999998 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.11158309999999996 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_3"/>
     <dynamics damping="0.1"/>
@@ -609,112 +609,112 @@
   </joint>
   <link name="r_sole_skin_12"/>
   <joint name="r_sole_skin_12_fixed_joint" type="fixed">
-    <origin xyz="0.08286799999999998 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.08286799999999997 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_12"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_13"/>
   <joint name="r_sole_skin_13_fixed_joint" type="fixed">
-    <origin xyz="0.10124239999999998 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.10124239999999997 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_13"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_14"/>
   <joint name="r_sole_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.050136039999999986 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.05013603999999998 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_14"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_15"/>
   <joint name="r_sole_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.04611918999999999 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.046119189999999984 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_17"/>
   <joint name="r_sole_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.02968549999999999 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.029685499999999997 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_18"/>
   <joint name="r_sole_skin_18_fixed_joint" type="fixed">
-    <origin xyz="-0.0480599 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.04805990000000001 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_18"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_19"/>
   <joint name="r_sole_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.052076700000000004 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.05207670000000001 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_20"/>
   <joint name="r_sole_skin_20_fixed_joint" type="fixed">
-    <origin xyz="-0.03771920000000001 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.037719200000000015 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_21"/>
   <joint name="r_sole_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.03577849999999999 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.03577849999999998 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_21"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_22"/>
   <joint name="r_sole_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.027744799999999997 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.02774479999999999 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_22"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_24"/>
   <joint name="r_sole_skin_24_fixed_joint" type="fixed">
-    <origin xyz="-0.004987199999999997 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.004987200000000004 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_24"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_25"/>
   <joint name="r_sole_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.013387200000000002 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.013387199999999995 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_25"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_26"/>
   <joint name="r_sole_skin_26_fixed_joint" type="fixed">
-    <origin xyz="0.017404099999999992 0.0133722 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.017404099999999985 0.0133722 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_26"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_27"/>
   <joint name="r_sole_skin_27_fixed_joint" type="fixed">
-    <origin xyz="0.0030464999999999867 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.0030464999999999798 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_27"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_28"/>
   <joint name="r_sole_skin_28_fixed_joint" type="fixed">
-    <origin xyz="-0.015327899999999992 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.015327899999999998 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_28"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_29"/>
   <joint name="r_sole_skin_29_fixed_joint" type="fixed">
-    <origin xyz="-0.019344799999999995 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.019344800000000002 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_29"/>
     <dynamics damping="0.1"/>
@@ -938,12 +938,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
+      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000158626" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.000206526" iyz="1.19785e-06" izz="0.000104956"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -952,15 +952,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
-    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
+    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -989,7 +989,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
+    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -1026,12 +1026,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13344e-05" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="5.86947e-05" iyz="3.92498e-06" izz="9.68353e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1040,7 +1040,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1056,7 +1056,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -1077,7 +1077,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -1086,35 +1086,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1135,14 +1135,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -1170,7 +1170,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -1191,35 +1191,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1254,19 +1254,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="5.57722e-06" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="5.29845e-06" iyz="-1.59685e-07" izz="1.87724e-06"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1275,14 +1275,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -1312,7 +1312,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -1358,12 +1358,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
+      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000159621" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.000222574" iyz="1.20112e-06" izz="0.000120056"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1372,15 +1372,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
-    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
+    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -1409,7 +1409,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
+    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -1446,7 +1446,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13352e-05" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="5.86823e-05" iyz="3.9319e-06" izz="9.68469e-05"/>
     </inertial>
@@ -1476,7 +1476,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -1497,7 +1497,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -1506,35 +1506,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1555,7 +1555,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -1576,7 +1576,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -1611,35 +1611,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1653,7 +1653,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1674,19 +1674,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="5.56774e-06" ixy="3.08362e-08" ixz="9.42153e-07" iyy="5.28838e-06" iyz="-1.58924e-07" izz="1.87579e-06"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1695,14 +1695,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1732,7 +1732,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1748,12 +1748,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1762,7 +1762,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1778,12 +1778,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0011062999999999976 1.730000000001175e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0011062999999999906 1.7299999999997873e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.415987"/>
       <inertia ixx="0.000475741" ixy="2.89355e-07" ixz="-6.72876e-08" iyy="0.000279828" iyz="6.7417e-06" izz="0.000307828"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1792,14 +1792,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
+    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1808,12 +1808,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.00012290000000000217 -0.0002822999999999992 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012289999999999524 -0.00028229999999998534 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="3.27938e-05" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="5.69957e-05" iyz="3.32338e-08" izz="3.26449e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1822,26 +1822,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008301999999999962 7.519999999999749e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008301999999999893 7.519999999998361e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868999999999913 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868999999999982 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1850,7 +1850,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1866,7 +1866,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.051256699999999995 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.05125669999999999 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1880,12 +1880,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.0009997999999999951 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.000999800000000002 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1894,7 +1894,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1910,12 +1910,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015153099999999989 0.0009020000000000139 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.015153099999999996 0.000902 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447429734460005" ixy="-1.1322603878053663e-06" ixz="3.046651057758992e-05" iyy="0.0004478873540695352" iyz="2.5726583414130826e-06" izz="0.0003076030453774591"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1924,7 +1924,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1940,12 +1940,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011446999999999985 3.599999999992498e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0011447000000000054 3.5999999999786203e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.265122"/>
       <inertia ixx="0.000327222" ixy="-4.74606e-08" ixz="4.94571e-08" iyy="0.000248285" iyz="-4.29975e-06" izz="0.000150937"/>
     </inertial>
     <visual>
-      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1954,7 +1954,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1991,7 +1991,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.003500000000000003 0 -0.0605" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.003499999999999996 0 -0.0605" rpy="3.141592653589793 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2658,13 +2658,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2706,13 +2706,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2754,13 +2754,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2778,13 +2778,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2814,13 +2814,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2838,13 +2838,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2862,13 +2862,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -3004,24 +3004,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -3063,13 +3063,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
@@ -3087,178 +3087,178 @@
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07847939999999999 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
+      <pose>0.07847939999999998 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
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     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
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   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
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   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012575000000000003 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
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   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
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+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012574999999999996 0.04040679999999998 -0.040226999999999985"/>
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   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
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+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.01308100000000001 -0.04040720000000002 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013079 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
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   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013079 0.04040679999999998 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999993 0.04040679999999998 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
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   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999998 0.007765700000000014 0.03925200000000001"/>
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   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999998 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053784999999999986 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999998 -0.014429400000000002 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429400000000002 0.0041819999999999635"/>
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   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.03412954999999998 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412954999999999 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999998 -0.0414999 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999999 -0.0414999 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.04378499999999999 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043785 0.017810999999999994 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999999 0.017810999999999994 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378500000000001 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.043785000000000004 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378500000000001 -0.014191800000000011 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785000000000004 -0.014191800000000011 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351379199999999 0.011314499999999963 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.043513791999999996 0.011314499999999963 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351379199999999 0.011314499999999963 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.043513791999999996 0.011314499999999963 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450335399999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.044503353999999995 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450335399999999 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503353999999995 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053133529999999984 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.05313352999999999 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133529999999984 0.017184099999999994 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313352999999999 0.017184099999999994 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
@@ -3276,25 +3276,25 @@
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915199999999996 0.04274479999999997 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.025915200000000003 0.04274479999999997 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915199999999996 0.04274479999999997 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.025915200000000003 0.04274479999999997 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999977 -0.041718700000000025 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
+      <pose>0.018459299999999984 -0.041718700000000025 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999977 -0.041718700000000025 -0.09295800000000004"/>
+    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999984 -0.041718700000000025 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
@@ -3368,45 +3368,45 @@
     <sensor name="l_upper_leg_ft_acc_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_acc_3b12" type="accelerometer">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_hip_2">
     <sensor name="l_upper_leg_ft_gyro_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_gyro_3b12" type="gyroscope">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_acc_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_acc_3b13" type="accelerometer">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_gyro_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_gyro_3b13" type="gyroscope">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
   </sensor>
   <gazebo>
     <pose>0.0 0.0 0.63 0.0 0.0 3.14</pose>
diff --git a/iCub/robots/iCubGenova02/model.urdf b/iCub/robots/iCubGenova02/model.urdf
index 188d3d3..612b79d 100644
--- a/iCub/robots/iCubGenova02/model.urdf
+++ b/iCub/robots/iCubGenova02/model.urdf
@@ -247,12 +247,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
+      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000158626" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.000206526" iyz="1.19785e-06" izz="0.000104956"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -261,15 +261,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
-    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
+    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -298,7 +298,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
+    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -335,12 +335,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13344e-05" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="5.86947e-05" iyz="3.92498e-06" izz="9.68353e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -349,7 +349,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -365,7 +365,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -386,7 +386,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -395,35 +395,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -444,14 +444,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -479,7 +479,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -500,35 +500,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -542,7 +542,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -563,19 +563,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="5.57722e-06" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="5.29845e-06" iyz="-1.59685e-07" izz="1.87724e-06"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -584,14 +584,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -621,7 +621,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -667,12 +667,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
+      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000159621" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.000222574" iyz="1.20112e-06" izz="0.000120056"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -681,15 +681,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
-    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
+    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -718,7 +718,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
+    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -755,7 +755,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13352e-05" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="5.86823e-05" iyz="3.9319e-06" izz="9.68469e-05"/>
     </inertial>
@@ -785,7 +785,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -806,7 +806,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -815,35 +815,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -864,7 +864,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -885,7 +885,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -920,35 +920,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -962,7 +962,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -983,19 +983,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="5.56774e-06" ixy="3.08362e-08" ixz="9.42153e-07" iyy="5.28838e-06" iyz="-1.58924e-07" izz="1.87579e-06"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1004,14 +1004,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1041,7 +1041,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1057,12 +1057,12 @@
   </joint>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1071,7 +1071,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.058310299999999995 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
+    <origin xyz="0.058310299999999995 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1247,7 +1247,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208552 0.03044339999999998 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
+    <origin xyz="0.05208552 0.03044339999999998 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -1275,7 +1275,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999999 -0.03117600000000001 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
+    <origin xyz="0.05504769999999999 -0.03117600000000001 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -1303,21 +1303,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.035753400000000005 0.04106279999999999 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
+    <origin xyz="0.035753400000000005 0.04106279999999999 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.023441900000000012 0.04799079999999998 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
+    <origin xyz="0.023441900000000012 0.04799079999999998 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.02427040000000001 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
+    <origin xyz="0.02427040000000001 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -1352,14 +1352,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.047748659999999984 -0.031231999999999996 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
+    <origin xyz="0.047748659999999984 -0.031231999999999996 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322408999999999 -0.01560180000000004 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
+    <origin xyz="0.05322408999999999 -0.01560180000000004 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -1373,21 +1373,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880466999999999 -0.031263 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
+    <origin xyz="0.04880466999999999 -0.031263 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999999 -0.01591290000000002 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
+    <origin xyz="0.05660089999999999 -0.01591290000000002 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.057010599999999995 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
+    <origin xyz="0.057010599999999995 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -1408,14 +1408,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641629999999995 0.01763889999999997 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
+    <origin xyz="0.052641629999999995 0.01763889999999997 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113137 0.032438499999999953 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
+    <origin xyz="0.04113137 0.032438499999999953 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -1436,7 +1436,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998319999999995 0.0012663999999999592 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
+    <origin xyz="0.052998319999999995 0.0012663999999999592 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -1450,7 +1450,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127079999999986 -0.030749000000000026 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
+    <origin xyz="0.045127079999999986 -0.030749000000000026 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -1485,12 +1485,12 @@
   </joint>
   <link name="r_ankle_1">
     <inertial>
-      <origin xyz="0.015143405473968807 -0.0008685000000000082 4.2859082720503316e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.015143405473968821 -0.0008685000000000082 4.2859082720503316e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.6803"/>
       <inertia ixx="0.0004046207392315529" ixy="8.523488844593136e-06" ixz="-2.8913590319053794e-05" iyy="0.0004379396781535379" iyz="3.7330395179426065e-05" izz="0.00031892819418424145"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272424511755 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424511754 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1499,7 +1499,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272424511755 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424511754 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1515,12 +1515,12 @@
   </joint>
   <link name="r_ankle_2">
     <inertial>
-      <origin xyz="0.0011452157753235048 -8.299999999988872e-06 -0.038511854107377785" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.0011452157753235187 -8.299999999988872e-06 -0.038511854107377785" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.265337"/>
       <inertia ixx="0.000327646" ixy="-7.94989e-08" ixz="8.24551e-09" iyy="0.000244632" iyz="2.0701e-05" izz="0.000155777"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272442308745 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442308744 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1529,7 +1529,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272442308745 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442308744 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1537,7 +1537,7 @@
   </link>
   <joint name="r_ankle_roll" type="revolute">
     <origin xyz="0 0 0" rpy="0 0 0"/>
-    <axis xyz="-1.0000001561184808 -6.013654019199066e-16 1.197939497389039e-07"/>
+    <axis xyz="-1.0000001561184808 -6.013654019199066e-16 1.1979394973216095e-07"/>
     <parent link="r_ankle_1"/>
     <child link="r_ankle_2"/>
     <limit effort="37.0" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="7.64"/>
@@ -1545,12 +1545,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.039779742643594365 0.004553699994905444 -0.006311816589999797" rpy="-1.832595507822573 0 -1.5707963267948983"/>
+      <origin xyz="0.039779742643594365 0.004553699994905444 -0.006311816589999797" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
       <mass value="0.357881"/>
       <inertia ixx="0.00109611" ixy="-2.9193e-07" ixz="-3.70109e-05" iyy="0.00125706" iyz="5.10952e-06" izz="0.000215359"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.832595507822573 0 -1.5707963267948983"/>
+      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1559,14 +1559,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.832595507822573 0 -1.5707963267948983"/>
+      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.0034999280659716164 0 -0.060500343280208146" rpy="3.141592652417863 0 0"/>
+    <origin xyz="-0.0034999280659716026 0 -0.060500343280208146" rpy="3.141592652417863 0 0"/>
     <parent link="r_ankle_2"/>
     <child link="r_foot"/>
     <dynamics damping="0.1"/>
@@ -1580,12 +1580,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1594,7 +1594,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1610,12 +1610,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0015761999999999998 -1.939999999998887e-05 -0.04405299999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0015761999999999929 -1.940000000000275e-05 -0.04405299999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.421106"/>
       <inertia ixx="0.000494284" ixy="1.5483e-07" ixz="-1.86308e-07" iyy="0.000288736" iyz="1.52962e-05" izz="0.000319008"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1624,14 +1624,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
+    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1640,12 +1640,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.0001229999999999981 -0.000282300000000027 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012299999999999117 -0.0002823000000000131 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="3.27938e-05" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="5.69957e-05" iyz="3.32338e-08" izz="3.26449e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370899980932098 0.07010000000001013 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.043708999809320984 0.07010000000001014 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1654,26 +1654,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370899980932098 0.07010000000001013 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.043708999809320984 0.07010000000001014 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008575000000000041 0 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008574999999999972 0 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868000000000023 0.00010179999999999911 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868000000000092 0.00010179999999999911 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370899980932098 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043708999809320984 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1682,7 +1682,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370899980932098 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043708999809320984 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1698,7 +1698,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.05125669999999998 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.051256699999999975 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1712,12 +1712,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.0009997000000000061 0.0034968999999999834 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.000999700000000013 0.0034968999999999834 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370899980931698 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980931699 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1726,7 +1726,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370899980931698 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980931699 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1742,12 +1742,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015152971856010333 0.0009021000000000029 4.2316556559285345e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.015152971856010347 0.0009021000000000029 4.2316556559285345e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447618553062084" ixy="-8.97867775831874e-06" ixz="2.9134846047326194e-05" iyy="0.00043720150287133953" iyz="3.730206268073148e-05" izz="0.00031828795462876227"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272424516864 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424516862 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1756,7 +1756,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272424516864 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424516862 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1772,12 +1772,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011452157753235326 -8.299999999974994e-06 -0.038511854107377674" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.0011452157753235465 -8.299999999974994e-06 -0.038511854107377674" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.265337"/>
       <inertia ixx="0.000327646" ixy="-7.94989e-08" ixz="8.24551e-09" iyy="0.000244632" iyz="2.0701e-05" izz="0.000155777"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272442313178 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442313177 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1786,7 +1786,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272442313178 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442313177 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1794,7 +1794,7 @@
   </link>
   <joint name="l_ankle_roll" type="revolute">
     <origin xyz="0 0 0" rpy="0 0 0"/>
-    <axis xyz="1.0000001561184808 6.013654019199066e-16 -1.197939497389039e-07"/>
+    <axis xyz="1.0000001561184808 6.013654019199066e-16 -1.1979394973216095e-07"/>
     <parent link="l_ankle_1"/>
     <child link="l_ankle_2"/>
     <limit effort="37.0" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="7.64"/>
@@ -1823,7 +1823,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.0034999280659716164 0 -0.060500343280208146" rpy="-3.141592643239301 0 0"/>
+    <origin xyz="-0.0034999280659716026 0 -0.060500343280208146" rpy="-3.141592643239301 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2315,13 +2315,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2363,13 +2363,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2411,13 +2411,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2435,13 +2435,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2471,13 +2471,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2495,13 +2495,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2519,13 +2519,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -2661,24 +2661,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351373 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04351373 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351373 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351373 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.044503292 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.044503292 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.044503292 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503292 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -2696,13 +2696,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0537517 0.01572289999999999 -0.0043179999999999885 -1.5707962918786202 -1.5706802104434698 -1.221730721500941</pose>
+      <pose>0.0537517 0.01572289999999999 -0.0043179999999999885 -1.5707962918765586 -1.5706802104434696 -1.2217307215014315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707962918786202 -1.5706802104434698 -1.221730721500941" xyz="0.0537517 0.01572289999999999 -0.0043179999999999885"/>
+    <origin rpy="-1.5707962918765586 -1.5706802104434696 -1.2217307215014315" xyz="0.0537517 0.01572289999999999 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b10" type="imu">
@@ -2720,238 +2720,238 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.01648010000000001 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.01648010000000001 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.01648010000000001 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.01648010000000001 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.11154352975660221 -0.00081220000825033 -0.022848096181402044 -0.26179918102765654 7.344347216498023e-08 -1.570796052699907</pose>
+      <pose>0.11154352975660221 -0.00081220000825033 -0.022848096181402044 -0.2617991810276566 7.344347213722464e-08 -1.5707960526999072</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b12" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="-0.26179918102765654 7.344347216498023e-08 -1.570796052699907" xyz="0.11154352975660221 -0.00081220000825033 -0.022848096181402044"/>
+    <origin rpy="-0.2617991810276566 7.344347213722464e-08 -1.5707960526999072" xyz="0.11154352975660221 -0.00081220000825033 -0.022848096181402044"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.08739538274799673 -0.011812200008250326 -0.016377625097255266 -0.26179918102766664 1.6098233857064772e-15 -1.5707963267948981</pose>
+      <pose>0.08739538274799673 -0.011812200008250326 -0.016377625097255266 -0.26179918102766675 1.5543122344752188e-15 -1.5707963267948986</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="-0.26179918102766664 1.6098233857064772e-15 -1.5707963267948981" xyz="0.08739538274799673 -0.011812200008250326 -0.016377625097255266"/>
+    <origin rpy="-0.26179918102766675 1.5543122344752188e-15 -1.5707963267948986" xyz="0.08739538274799673 -0.011812200008250326 -0.016377625097255266"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.0125771 -0.040407200000000004 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.012577099999999994 -0.040407200000000004 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.0125771 -0.040407200000000004 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577099999999994 -0.040407200000000004 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012575099999999992 0.040407 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012575099999999985 0.040407 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575099999999992 0.040407 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575099999999985 0.040407 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013081000000000002 -0.040407200000000004 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.013080999999999995 -0.040407200000000004 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000002 -0.040407200000000004 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013080999999999995 -0.040407200000000004 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013078999999999986 0.040407 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.01307899999999998 0.040407 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999986 0.040407 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.01307899999999998 0.040407 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04200163 0.03156500000000001 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
+      <pose>0.042001630000000005 0.03156500000000001 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.04200163 0.03156500000000001 0.04913199999999998"/>
+    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.042001630000000005 0.03156500000000001 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352108999999999 0.007765700000000028 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352109 0.007765700000000028 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352108999999999 0.007765700000000028 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352109 0.007765700000000028 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053785 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053785 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 -0.014429399999999995 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999999 -0.014429399999999995 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429399999999995 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 -0.014429399999999995 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.034129489999999985 -0.041499899999999985 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412948999999999 -0.041499899999999985 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.034129489999999985 -0.041499899999999985 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412948999999999 -0.041499899999999985 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043784999999999984 0.01781110000000001 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.04378499999999998 0.01781110000000001 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043784999999999984 0.01781110000000001 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999998 0.01781110000000001 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785 -0.014191799999999997 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.04378499999999999 -0.014191799999999997 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785 -0.014191799999999997 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378499999999999 -0.014191799999999997 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.043513729999999994 0.011314599999999966 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04351373 0.011314599999999966 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.043513729999999994 0.011314599999999966 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351373 0.011314599999999966 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450329199999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.044503292 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450329199999999 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503292 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053133469999999995 0.017184100000000008 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.05313347 0.017184100000000008 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133469999999995 0.017184100000000008 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313347 0.017184100000000008 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05445179999999999 -0.013799100000000002 -0.0043179999999999885 -1.5707963664504991 -1.5706802104435666 -1.919861927351539</pose>
+      <pose>0.054451799999999995 -0.013799100000000002 -0.0043179999999999885 -1.5707963664504991 -1.5706802104435666 -1.919861927351539</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b9" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707963664504991 -1.5706802104435666 -1.919861927351539" xyz="0.05445179999999999 -0.013799100000000002 -0.0043179999999999885"/>
+    <origin rpy="-1.5707963664504991 -1.5706802104435666 -1.919861927351539" xyz="0.054451799999999995 -0.013799100000000002 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915100000000003 0.042743999999999976 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.02591510000000001 0.042743999999999976 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915100000000003 0.042743999999999976 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.02591510000000001 0.042743999999999976 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999988 -0.04171870000000001 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
+      <pose>0.018459299999999994 -0.04171870000000001 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999988 -0.04171870000000001 -0.09295800000000004"/>
+    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999994 -0.04171870000000001 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
diff --git a/iCub/robots/iCubGenova04/model.urdf b/iCub/robots/iCubGenova04/model.urdf
index de1a7ce..bcb3414 100644
--- a/iCub/robots/iCubGenova04/model.urdf
+++ b/iCub/robots/iCubGenova04/model.urdf
@@ -23,12 +23,12 @@
   </link>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -37,7 +37,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -199,7 +199,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
+    <origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -213,7 +213,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
+    <origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -241,7 +241,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
+    <origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -269,21 +269,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
+    <origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
+    <origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
+    <origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -318,14 +318,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
+    <origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
+    <origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -339,21 +339,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
+    <origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
+    <origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
+    <origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -374,14 +374,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
+    <origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
+    <origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -402,7 +402,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
+    <origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -416,7 +416,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
+    <origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -511,12 +511,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.033600099999999994 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.03360009999999998 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.382866"/>
       <inertia ixx="0.00120946" ixy="3.74585e-07" ixz="-5.78759e-05" iyy="0.00141439" iyz="-7.80325e-06" izz="0.000273599"/>
     </inertial>
     <visual>
-      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -525,7 +525,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.047209015 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -539,14 +539,14 @@
   </joint>
   <link name="r_sole"/>
   <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.003500000000000003 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
+    <origin xyz="0.003499999999999996 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_0"/>
   <joint name="r_sole_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.060476699999999994 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.06047669999999999 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_0"/>
     <dynamics damping="0.1"/>
@@ -560,14 +560,14 @@
   </joint>
   <link name="r_sole_skin_2"/>
   <joint name="r_sole_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.09320869999999999 -0.032368 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.09320869999999998 -0.032368 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_3"/>
   <joint name="r_sole_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.11158309999999998 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.11158309999999996 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_3"/>
     <dynamics damping="0.1"/>
@@ -609,112 +609,112 @@
   </joint>
   <link name="r_sole_skin_12"/>
   <joint name="r_sole_skin_12_fixed_joint" type="fixed">
-    <origin xyz="0.08286799999999998 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.08286799999999997 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_12"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_13"/>
   <joint name="r_sole_skin_13_fixed_joint" type="fixed">
-    <origin xyz="0.10124239999999998 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.10124239999999997 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_13"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_14"/>
   <joint name="r_sole_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.050136039999999986 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.05013603999999998 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_14"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_15"/>
   <joint name="r_sole_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.04611918999999999 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.046119189999999984 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_17"/>
   <joint name="r_sole_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.02968549999999999 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.029685499999999997 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_18"/>
   <joint name="r_sole_skin_18_fixed_joint" type="fixed">
-    <origin xyz="-0.0480599 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.04805990000000001 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_18"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_19"/>
   <joint name="r_sole_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.052076700000000004 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.05207670000000001 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_20"/>
   <joint name="r_sole_skin_20_fixed_joint" type="fixed">
-    <origin xyz="-0.03771920000000001 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.037719200000000015 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_21"/>
   <joint name="r_sole_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.03577849999999999 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.03577849999999998 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_21"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_22"/>
   <joint name="r_sole_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.027744799999999997 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.02774479999999999 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_22"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_24"/>
   <joint name="r_sole_skin_24_fixed_joint" type="fixed">
-    <origin xyz="-0.004987199999999997 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.004987200000000004 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_24"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_25"/>
   <joint name="r_sole_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.013387200000000002 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.013387199999999995 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_25"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_26"/>
   <joint name="r_sole_skin_26_fixed_joint" type="fixed">
-    <origin xyz="0.017404099999999992 0.0133722 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.017404099999999985 0.0133722 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_26"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_27"/>
   <joint name="r_sole_skin_27_fixed_joint" type="fixed">
-    <origin xyz="0.0030464999999999867 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="0.0030464999999999798 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_27"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_28"/>
   <joint name="r_sole_skin_28_fixed_joint" type="fixed">
-    <origin xyz="-0.015327899999999992 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.015327899999999998 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_28"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_sole_skin_29"/>
   <joint name="r_sole_skin_29_fixed_joint" type="fixed">
-    <origin xyz="-0.019344799999999995 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
+    <origin xyz="-0.019344800000000002 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
     <parent link="r_foot"/>
     <child link="r_sole_skin_29"/>
     <dynamics damping="0.1"/>
@@ -938,12 +938,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
+      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000158626" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.000206526" iyz="1.19785e-06" izz="0.000104956"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -952,15 +952,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
-    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
+    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -989,7 +989,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
+    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -1026,12 +1026,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13344e-05" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="5.86947e-05" iyz="3.92498e-06" izz="9.68353e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1040,7 +1040,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1056,7 +1056,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -1077,7 +1077,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -1086,35 +1086,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1135,14 +1135,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -1170,7 +1170,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -1191,35 +1191,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1254,19 +1254,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="5.57722e-06" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="5.29845e-06" iyz="-1.59685e-07" izz="1.87724e-06"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1275,14 +1275,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -1312,7 +1312,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -1358,12 +1358,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
+      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000159621" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.000222574" iyz="1.20112e-06" izz="0.000120056"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1372,15 +1372,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
-    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
+    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -1409,7 +1409,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
+    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -1446,7 +1446,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13352e-05" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="5.86823e-05" iyz="3.9319e-06" izz="9.68469e-05"/>
     </inertial>
@@ -1476,7 +1476,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -1497,7 +1497,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -1506,35 +1506,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1555,7 +1555,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -1576,7 +1576,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -1611,35 +1611,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -1653,7 +1653,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -1674,19 +1674,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="5.56774e-06" ixy="3.08362e-08" ixz="9.42153e-07" iyy="5.28838e-06" iyz="-1.58924e-07" izz="1.87579e-06"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1695,14 +1695,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1732,7 +1732,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1748,12 +1748,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1762,7 +1762,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1778,12 +1778,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0011062999999999976 1.730000000001175e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0011062999999999906 1.7299999999997873e-05 -0.04457399999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.415987"/>
       <inertia ixx="0.000475741" ixy="2.89355e-07" ixz="-6.72876e-08" iyy="0.000279828" iyz="6.7417e-06" izz="0.000307828"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1792,14 +1792,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
+    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1808,12 +1808,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.00012290000000000217 -0.0002822999999999992 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012289999999999524 -0.00028229999999998534 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="3.27938e-05" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="5.69957e-05" iyz="3.32338e-08" izz="3.26449e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1822,26 +1822,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 0.07010002460000003 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 0.07010002460000005 -0.22621299999998065" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008301999999999962 7.519999999999749e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008301999999999893 7.519999999998361e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868999999999913 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868999999999982 0.00010179999999998524 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1850,7 +1850,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002459999994 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1866,7 +1866,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.051256699999999995 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.05125669999999999 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1880,12 +1880,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.0009997999999999951 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.000999800000000002 0.0034968999999999695 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1894,7 +1894,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999991 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1910,12 +1910,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015153099999999989 0.0009020000000000139 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.015153099999999996 0.000902 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447429734460005" ixy="-1.1322603878053663e-06" ixz="3.046651057758992e-05" iyy="0.0004478873540695352" iyz="2.5726583414130826e-06" izz="0.0003076030453774591"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1924,7 +1924,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370906139999997 -0.07010002479999985 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370906139999998 -0.07010002479999987 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1940,12 +1940,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011446999999999985 3.599999999992498e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0011447000000000054 3.5999999999786203e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.265122"/>
       <inertia ixx="0.000327222" ixy="-4.74606e-08" ixz="4.94571e-08" iyy="0.000248285" iyz="-4.29975e-06" izz="0.000150937"/>
     </inertial>
     <visual>
-      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1954,7 +1954,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04368169961858297 -0.07017520019076885 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043681699618582974 -0.07017520019076887 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1991,7 +1991,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.003500000000000003 0 -0.0605" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.003499999999999996 0 -0.0605" rpy="3.141592653589793 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2658,13 +2658,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2706,13 +2706,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2754,13 +2754,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2778,13 +2778,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2814,13 +2814,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2838,13 +2838,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2862,13 +2862,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -3004,24 +3004,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04351374599999999 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351374599999999 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04450330799999999 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -3063,13 +3063,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.0164801 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.0164801 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
@@ -3087,178 +3087,178 @@
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07847939999999999 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
+      <pose>0.07847939999999998 -0.011812200000000009 -0.001214999999999966 2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999999 -0.011812200000000009 -0.001214999999999966"/>
+    <origin rpy="2.220446049250314e-16 2.220446049250313e-16 -1.5707963267948966" xyz="0.07847939999999998 -0.011812200000000009 -0.001214999999999966"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012577000000000012 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.012577000000000005 -0.04040720000000002 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000012 -0.04040720000000002 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577000000000005 -0.04040720000000002 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012575000000000003 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012574999999999996 0.04040679999999998 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575000000000003 0.04040679999999998 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012574999999999996 0.04040679999999998 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013081000000000016 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.01308100000000001 -0.04040720000000002 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000016 -0.04040720000000002 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.01308100000000001 -0.04040720000000002 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013079 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.013078999999999993 0.04040679999999998 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013079 0.04040679999999998 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999993 0.04040679999999998 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.042001689999999994 0.03156479999999999 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
+      <pose>0.04200169 0.03156479999999999 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.042001689999999994 0.03156479999999999 0.04913199999999998"/>
+    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.04200169 0.03156479999999999 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352114999999998 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352114999999999 0.007765700000000014 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999998 0.007765700000000014 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352114999999999 0.007765700000000014 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999998 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053784999999999986 -0.014429400000000002 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999998 -0.014429400000000002 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429400000000002 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.03412954999999998 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412954999999999 -0.0414999 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999998 -0.0414999 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412954999999999 -0.0414999 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.04378499999999999 0.017810999999999994 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043785 0.017810999999999994 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999999 0.017810999999999994 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04378500000000001 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.043785000000000004 -0.014191800000000011 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378500000000001 -0.014191800000000011 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785000000000004 -0.014191800000000011 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351379199999999 0.011314499999999963 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.043513791999999996 0.011314499999999963 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351379199999999 0.011314499999999963 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.043513791999999996 0.011314499999999963 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450335399999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.044503353999999995 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450335399999999 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503353999999995 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053133529999999984 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.05313352999999999 0.017184099999999994 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133529999999984 0.017184099999999994 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313352999999999 0.017184099999999994 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
@@ -3276,25 +3276,25 @@
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915199999999996 0.04274479999999997 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.025915200000000003 0.04274479999999997 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915199999999996 0.04274479999999997 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.025915200000000003 0.04274479999999997 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999977 -0.041718700000000025 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
+      <pose>0.018459299999999984 -0.041718700000000025 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999977 -0.041718700000000025 -0.09295800000000004"/>
+    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999984 -0.041718700000000025 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
@@ -3368,45 +3368,45 @@
     <sensor name="l_upper_leg_ft_acc_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_acc_3b12" type="accelerometer">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_hip_2">
     <sensor name="l_upper_leg_ft_gyro_3b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.006669999999999995 -0.008524799999999999 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.006670000000000002 -0.008524800000000013 -0.059281999999999946 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ft_gyro_3b12" type="gyroscope">
     <parent link="l_hip_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006669999999999995 -0.008524799999999999 -0.059281999999999946"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.006670000000000002 -0.008524800000000013 -0.059281999999999946"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_acc_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_acc_3b13" type="accelerometer">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
   </sensor>
   <gazebo reference="l_ankle_2">
     <sensor name="l_foot_ft_gyro_3b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0040001999999999885 -0.008600000000000003 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
+      <pose>0.004000199999999995 -0.008600000000000017 -0.045282000000000044 -2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966</pose>
     </sensor>
   </gazebo>
   <sensor name="l_foot_ft_gyro_3b13" type="gyroscope">
     <parent link="l_ankle_2"/>
-    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.0040001999999999885 -0.008600000000000003 -0.045282000000000044"/>
+    <origin rpy="-2.220446049250314e-16 2.220446049250313e-16 1.5707963267948966" xyz="0.004000199999999995 -0.008600000000000017 -0.045282000000000044"/>
   </sensor>
   <gazebo>
     <pose>0.0 0.0 0.63 0.0 0.0 3.14</pose>
diff --git a/iCub/robots/iCubGenova04_plus/model.urdf b/iCub/robots/iCubGenova04_plus/model.urdf
index 188d3d3..612b79d 100644
--- a/iCub/robots/iCubGenova04_plus/model.urdf
+++ b/iCub/robots/iCubGenova04_plus/model.urdf
@@ -247,12 +247,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="-0.02141417094380993 0.0002717252725513569 -0.019440234453461283" rpy="0 0 0"/>
+      <origin xyz="-0.021414170943809915 0.00027172527255134304 -0.019440234453461297" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000158626" ixy="-1.12091e-07" ixz="1.02574e-05" iyy="0.000206526" iyz="1.19785e-06" izz="0.000104956"/>
     </inertial>
     <visual>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -261,15 +261,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.10658780856753214 2.3191471536232466e-07 -0.04073921211753291" rpy="0 0 0"/>
+      <origin xyz="0.10658780856753214 2.3191471541783582e-07 -0.04073921211753291" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_shoulder_roll" type="revolute">
-    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829964 -0.252680154648383 -1.5015568003498747"/>
-    <axis xyz="-0.258819 9.361836320172563e-18 -0.965926"/>
+    <origin xyz="-0.007580465732273667 0 0.014210246363868029" rpy="-0.2705976115829963 -0.252680154648383 -1.5015568003498745"/>
+    <axis xyz="-0.258819 -2.7755575615628914e-17 -0.965926"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -298,7 +298,7 @@
     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="-0.02534607132315006 2.3275042732029405e-07 -0.005387648064565612" rpy="-0.25268954617505757 0.008518618321396991 0.06703988914196844"/>
+    <origin xyz="-0.025346071323150046 2.3275042730641626e-07 -0.0053876480645656255" rpy="-0.2526895461750575 0.008518618321396994 0.06703988914196896"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
@@ -335,12 +335,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.006739129328428656 0.018801899999999996 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="-0.006739129328428656 0.01880190000000001 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13344e-05" ixy="7.36974e-06" ixz="-1.04536e-05" iyy="5.86947e-05" iyz="3.92498e-06" izz="9.68353e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -349,7 +349,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.25939046331664584 0.022499899999999948 -0.08503258869619254" rpy="0 0 0"/>
+      <origin xyz="0.25939046331664584 0.02249989999999996 -0.08503258869619254" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_elbow_prosup_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -365,7 +365,7 @@
   </joint>
   <link name="r_forearm">
     <inertial>
-      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865201" rpy="0 0 0"/>
+      <origin xyz="-0.04043911338861204 -0.00032799999999999496 0.005327334483865203" rpy="0 0 0"/>
       <mass value="0.6347"/>
       <inertia ixx="0.000370044" ixy="-1.65419e-06" ixz="0.00010538" iyy="0.000672279" iyz="1.1456e-06" izz="0.000553637"/>
     </inertial>
@@ -386,7 +386,7 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.0384624299026574 0.022499900000000017 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="-0.0384624299026574 0.02249990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 -2.220446049250313e-16 -0.2588189794466167"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
@@ -395,35 +395,35 @@
   </joint>
   <link name="r_forearm_skin_0"/>
   <joint name="r_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014218" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
+    <origin xyz="-0.04544932866182965 0.030076999999999993 -0.006286560379014216" rpy="1.6918152229167889 -0.27102674434071783 -3.0688043822713253"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_1"/>
   <joint name="r_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820501 -0.2744425337639908 -3.0994697798425186"/>
+    <origin xyz="-0.03337289358257035 0.02882600000000002 -0.019845686771095515" rpy="1.8669402327820506 -0.2744425337639908 -3.0994697798425186"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_2"/>
   <joint name="r_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.016011733837060345" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
+    <origin xyz="-0.014698892985226357 0.031278999999999973 -0.01601173383706034" rpy="1.7284728701922574 -0.26401521911581066 -3.127332606870116"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_3"/>
   <joint name="r_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506465" rpy="-1.6948728085876994 -0.2697577271044894 3.0795974357388127"/>
+    <origin xyz="-0.04556729362200617 -0.030891000000000002 -0.006330009293506463" rpy="-1.694872808587699 -0.26975772710448953 3.0795974357388127"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_4"/>
   <joint name="r_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659854" rpy="-1.8073496019352646 -0.039313179632725175 2.979976436320592"/>
+    <origin xyz="-0.06353263329961753 -0.02811630000000001 -0.008997842580659852" rpy="-1.807349601935264 -0.03931317963272516 2.9799764363205914"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -444,14 +444,14 @@
   </joint>
   <link name="r_forearm_skin_7"/>
   <joint name="r_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570657 -0.26399290072226783 3.127212542664466"/>
+    <origin xyz="-0.014722426007426966 -0.031942200000000004 -0.015932648270323382" rpy="-1.725646408570656 -0.26399290072226816 3.127212542664466"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_7"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_8"/>
   <joint name="r_forearm_skin_8_fixed_joint" type="fixed">
-    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.2706050905123207 3.139805572846308"/>
+    <origin xyz="-0.0228528628554271 -0.009786200000000009 -0.041885146374950645" rpy="-2.9480197913728667 -0.27060509051232057 3.139805572846308"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_8"/>
     <dynamics damping="0.1"/>
@@ -479,7 +479,7 @@
   </joint>
   <link name="r_forearm_skin_12"/>
   <joint name="r_forearm_skin_12_fixed_joint" type="fixed">
-    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697443 -3.120265803141759"/>
+    <origin xyz="-0.03759946338683661 0.01821600000000001 -0.034019117996090566" rpy="2.5830350596406384 -0.2948305020697442 -3.120265803141759"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_12"/>
     <dynamics damping="0.1"/>
@@ -500,35 +500,35 @@
   </joint>
   <link name="r_forearm_skin_15"/>
   <joint name="r_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
+    <origin xyz="-0.06337864196616988 0.027145000000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.289783281915754 -3.027658914283702"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_16"/>
   <joint name="r_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="-0.03792482186997503 0.030487000000000014 0.020636950360473926" rpy="1.4128000702560035 -0.25082462138972816 -3.0657274234313614"/>
+    <origin xyz="-0.03792482186997503 0.030487000000000014 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 -3.0657274234313623"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_17"/>
   <joint name="r_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="-0.05431705488213744 0.027725000000000027 0.030329124017862287" rpy="1.272237162052993 -0.2305930470302688 -3.031955428370696"/>
+    <origin xyz="-0.05431705488213744 0.027725000000000027 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 -3.031955428370696"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_19"/>
   <joint name="r_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.02069060539304483" rpy="-1.4156088870322079 -0.25256929022635194 3.077152178887055"/>
+    <origin xyz="-0.038126610713769264 -0.03129409999999999 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263516 3.0771521788870553"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_forearm_skin_22"/>
   <joint name="r_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850165" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
+    <origin xyz="-0.05441739504212798 -0.028722300000000006 0.030603751660850168" rpy="-1.26582427279506 -0.23432815137878316 3.0478831797095465"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -542,7 +542,7 @@
   </joint>
   <link name="r_forearm_skin_25"/>
   <joint name="r_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146757 -0.1369802721974407 3.05963182792421"/>
+    <origin xyz="-0.053599921629492835 -0.018223800000000012 0.04546981250452139" rpy="-0.5642955277146758 -0.13698027219744066 3.05963182792421"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -563,19 +563,19 @@
   </joint>
   <link name="r_forearm_dh_frame"/>
   <joint name="r_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="-0.2617993198271565 0 -1.570796326794897"/>
+    <origin xyz="-0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="-0.26179931982715643 0 -1.5707963267948968"/>
     <parent link="r_forearm"/>
     <child link="r_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="0.0009861019555474082 -0.0011759999999999826 0.004101327367239241" rpy="0 0 0"/>
+      <origin xyz="0.0009861019555474082 -0.0011759999999999965 0.004101327367239241" rpy="0 0 0"/>
       <mass value="0.0362615"/>
       <inertia ixx="5.57722e-06" ixy="-3.10462e-08" ixz="-9.44554e-07" iyy="5.29845e-06" iyz="-1.59685e-07" izz="1.87724e-06"/>
     </inertial>
     <visual>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -584,14 +584,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.40039217624844703 -7.0000000000763896e-06 -0.1047483045162671" rpy="0 0 0"/>
+      <origin xyz="0.40039217624844703 -7.000000000090267e-06 -0.1047483045162671" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_wrist_pitch" type="revolute">
-    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.02519770299355497" rpy="0 0 0"/>
+    <origin xyz="-0.1035052088730253 7.000000000020878e-06 0.025197702993554973" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 0.9659258438815124"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
@@ -621,7 +621,7 @@
     </collision>
   </link>
   <joint name="r_wrist_yaw" type="revolute">
-    <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
+    <origin xyz="0.0006341064996442103 -0.019499900000000014 0.002366518317509704" rpy="0 0 0"/>
     <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
@@ -667,12 +667,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.02147459512724749 0.0002689578996872277 -0.019410736153453706" rpy="0 0 0"/>
+      <origin xyz="0.021474595127247476 0.00026895789968721384 -0.01941073615345372" rpy="0 0 0"/>
       <mass value="0.238162"/>
       <inertia ixx="0.000159621" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.000222574" iyz="1.20112e-06" izz="0.000120056"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -681,15 +681,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10658669158059955 1.1080093428872395e-07 -0.04074338077098992" rpy="0 0 0"/>
+      <origin xyz="-0.10658669158059955 1.108009343442351e-07 -0.04074338077098992" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shoulder_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_roll" type="revolute">
-    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159597 0.2526801775423606 -1.5015568855866182"/>
-    <axis xyz="-0.258819 -9.361836320172563e-18 0.965926"/>
+    <origin xyz="-0.013671000000000016 0 0.0085204" rpy="0.2705973179159596 0.25268017754236044 -1.5015568855866173"/>
+    <axis xyz="-0.258819 2.7755575615628914e-17 0.965926"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.0" upper="2.8064894372068823" velocity="50000"/>
@@ -718,7 +718,7 @@
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0.025314346831209825 1.116364382186541e-07 -0.0054006165626487995" rpy="-0.25268954617505757 -0.008518618321396991 -0.06703988914196844"/>
+    <origin xyz="0.025314346831209797 1.1163643820477631e-07 -0.005400616562648813" rpy="-0.2526895461750575 -0.008518618321396994 -0.06703988914196896"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
@@ -755,7 +755,7 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536201" rpy="0 0 0"/>
+      <origin xyz="0.006739129328428652 0.030301900000000007 -0.004657692361536202" rpy="0 0 0"/>
       <mass value="0.267903"/>
       <inertia ixx="8.13352e-05" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="5.86823e-05" iyz="3.9319e-06" izz="9.68469e-05"/>
     </inertial>
@@ -785,7 +785,7 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791272" rpy="0 0 0"/>
+      <origin xyz="0.040451182882303864 -0.000686000000000006 0.005323632143791274" rpy="0 0 0"/>
       <mass value="0.636185"/>
       <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871" iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
     </inertial>
@@ -806,7 +806,7 @@
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="0.03846242990265739 0.03399990000000003 -0.0052231681940338075" rpy="0 0 0"/>
+    <origin xyz="0.03846242990265739 0.03399990000000003 -0.005223168194033808" rpy="0 0 0"/>
     <axis xyz="0.9659258438815126 2.220446049250313e-16 0.2588189794466167"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
@@ -815,35 +815,35 @@
   </joint>
   <link name="l_forearm_skin_0"/>
   <joint name="l_forearm_skin_0_fixed_joint" type="fixed">
-    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014218" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
+    <origin xyz="0.045449328661829665 -0.032316899999999996 -0.006286560379014216" rpy="1.6918152229167884 -0.2710267443407179 0.07278827131846853"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_0"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_1"/>
   <joint name="l_forearm_skin_1_fixed_joint" type="fixed">
-    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399047 0.04212287374727479"/>
+    <origin xyz="0.03337289358257036 -0.031066200000000016 -0.019845686771095515" rpy="1.8669402327820506 -0.27444253376399064 0.04212287374727489"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_1"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_2"/>
   <joint name="l_forearm_skin_2_fixed_joint" type="fixed">
-    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.016011733837060345" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
+    <origin xyz="0.01469889298522637 -0.033518400000000004 -0.01601173383706034" rpy="1.7284728701922578 -0.2640152191158104 0.014260046719677696"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_2"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_3"/>
   <joint name="l_forearm_skin_3_fixed_joint" type="fixed">
-    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506465" rpy="-1.6948728085876994 -0.26975772710448953 -0.061995217850980264"/>
+    <origin xyz="0.04556729362200616 0.02865100000000001 -0.006330009293506463" rpy="-1.6948728085876998 -0.2697577271044896 -0.061995217850980305"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_4"/>
   <joint name="l_forearm_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659854" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
+    <origin xyz="0.0635326332996175 0.02587700000000001 -0.008997842580659852" rpy="-1.8174787010829498 -0.28740688488516286 -0.09983161528264395"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_4"/>
     <dynamics damping="0.1"/>
@@ -864,7 +864,7 @@
   </joint>
   <link name="l_forearm_skin_7"/>
   <joint name="l_forearm_skin_7_fixed_joint" type="fixed">
-    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222678 -0.014380110925326664"/>
+    <origin xyz="0.014722426007426952 0.02970199999999998 -0.015932648270323382" rpy="-1.7256464085706567 -0.2639929007222682 -0.014380110925327112"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_7"/>
     <dynamics damping="0.1"/>
@@ -885,7 +885,7 @@
   </joint>
   <link name="l_forearm_skin_10"/>
   <joint name="l_forearm_skin_10_fixed_joint" type="fixed">
-    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.94123313405522 -0.3283044719221903 -0.013966278193572868"/>
+    <origin xyz="0.05422852108875307 0.007546000000000011 -0.03214690828659369" rpy="-2.9412331340552202 -0.3283044719221903 -0.01396627819357275"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_10"/>
     <dynamics damping="0.1"/>
@@ -920,35 +920,35 @@
   </joint>
   <link name="l_forearm_skin_15"/>
   <joint name="l_forearm_skin_15_fixed_joint" type="fixed">
-    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439966" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
+    <origin xyz="0.06337864196616988 -0.029384300000000002 -0.008794054555439964" rpy="1.8049276974140638 -0.28978328191575403 0.11393373930609194"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_15"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_16"/>
   <joint name="l_forearm_skin_16_fixed_joint" type="fixed">
-    <origin xyz="0.03792482186997504 -0.0327268 0.020636950360473926" rpy="1.4128000702560033 -0.2508246213897282 0.07586523015843241"/>
+    <origin xyz="0.03792482186997504 -0.0327268 0.02063695036047393" rpy="1.4128000702560044 -0.25082462138972744 0.0758652301584316"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_16"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_17"/>
   <joint name="l_forearm_skin_17_fixed_joint" type="fixed">
-    <origin xyz="0.05431705488213746 -0.029964599999999994 0.030329124017862287" rpy="1.272237162052993 -0.23059304703026878 0.10963722521909744"/>
+    <origin xyz="0.05431705488213746 -0.029964599999999994 0.03032912401786229" rpy="1.2722371620529929 -0.23059304703026898 0.10963722521909765"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_17"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_19"/>
   <joint name="l_forearm_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.03812661071376925 0.029053999999999996 0.02069060539304483" rpy="-1.4156088870322079 -0.252569290226352 -0.06444047470273781"/>
+    <origin xyz="0.03812661071376925 0.029053999999999996 0.020690605393044834" rpy="-1.415608887032208 -0.2525692902263517 -0.06444047470273734"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_forearm_skin_22"/>
   <joint name="l_forearm_skin_22_fixed_joint" type="fixed">
-    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850165" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
+    <origin xyz="0.05441739504212797 0.026483000000000007 0.030603751660850168" rpy="-1.2658242727950597 -0.23432815137878313 -0.09370947388024636"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_22"/>
     <dynamics damping="0.1"/>
@@ -962,7 +962,7 @@
   </joint>
   <link name="l_forearm_skin_25"/>
   <joint name="l_forearm_skin_25_fixed_joint" type="fixed">
-    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146757 -0.13698027219744066 -0.08196082566558259"/>
+    <origin xyz="0.05359992162949282 0.015984000000000026 0.04546981250452139" rpy="-0.5642955277146758 -0.1369802721974407 -0.08196082566558262"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_skin_25"/>
     <dynamics damping="0.1"/>
@@ -983,19 +983,19 @@
   </joint>
   <link name="l_forearm_dh_frame"/>
   <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
-    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064674" rpy="2.879793333762637 0 1.5707963267948968"/>
+    <origin xyz="0.1028711023733811 7.000000000020878e-06 0.027564221311064677" rpy="2.879793333762637 0 1.5707963267948968"/>
     <parent link="l_forearm"/>
     <child link="l_forearm_dh_frame"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.000981313804427647 -0.0011779999999999846 0.004083457739127433" rpy="0 0 0"/>
+      <origin xyz="-0.000981313804427647 -0.0011779999999999985 0.0040834577391274315" rpy="0 0 0"/>
       <mass value="0.0362152"/>
       <inertia ixx="5.56774e-06" ixy="3.08362e-08" ixz="9.42153e-07" iyy="5.28838e-06" iyz="-1.58924e-07" izz="1.87579e-06"/>
     </inertial>
     <visual>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1004,14 +1004,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.4003145305546131 -7.0000000000763896e-06 -0.10503808226943155" rpy="0 0 0"/>
+      <origin xyz="-0.4003145305546131 -7.000000000090267e-06 -0.10503808226943155" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_wrist_pitch_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.025487480746719426" rpy="0 0 0"/>
+    <origin xyz="0.10342756317919133 7.000000000020878e-06 0.02548748074671943" rpy="0 0 0"/>
     <axis xyz="0.2588189794466167 0.0 -0.9659258438815124"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
@@ -1041,7 +1041,7 @@
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.0006341064996442103 -0.0194999 0.0023665183175097023" rpy="0 0 0"/>
+    <origin xyz="-0.0006341064996442103 -0.019499900000000014 0.0023665183175097006" rpy="0 0 0"/>
     <axis xyz="-2.220446049250313e-16 1.0000000000000002 0.0"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
@@ -1057,12 +1057,12 @@
   </joint>
   <link name="r_hip_1">
     <inertial>
-      <origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.000514500000000008 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919978"/>
       <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1071,7 +1071,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000011214 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1233,7 +1233,7 @@
   </joint>
   <link name="r_lower_leg_skin_4"/>
   <joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
-    <origin xyz="0.058310299999999995 0.016783599999999996 0.007272000000000001" rpy="-2.986363594545861e-07 -1.2563674887550182 -2.7589238008709835"/>
+    <origin xyz="0.058310299999999995 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_4"/>
     <dynamics damping="0.1"/>
@@ -1247,7 +1247,7 @@
   </joint>
   <link name="r_lower_leg_skin_6"/>
   <joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
-    <origin xyz="0.05208552 0.03044339999999998 -0.022148999999999974" rpy="-3.1415892795257623 -1.4678512341064949 0.8374928890768587"/>
+    <origin xyz="0.05208552 0.03044339999999998 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_6"/>
     <dynamics damping="0.1"/>
@@ -1275,7 +1275,7 @@
   </joint>
   <link name="r_lower_leg_skin_14"/>
   <joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
-    <origin xyz="0.05504769999999999 -0.03117600000000001 -0.02190000000000003" rpy="-3.1415918188482506 -1.46502735635212 -0.6540334071673009"/>
+    <origin xyz="0.05504769999999999 -0.03117600000000001 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_14"/>
     <dynamics damping="0.1"/>
@@ -1303,21 +1303,21 @@
   </joint>
   <link name="r_lower_leg_skin_19"/>
   <joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
-    <origin xyz="0.035753400000000005 0.04106279999999999 0.006064999999999987" rpy="-8.908777145556939e-07 -1.434986969778283 -2.158636180167247"/>
+    <origin xyz="0.035753400000000005 0.04106279999999999 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_19"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_20"/>
   <joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
-    <origin xyz="0.023441900000000012 0.04799079999999998 -0.004952000000000012" rpy="-3.2055655013539e-06 -1.5001551303072311 -1.8675509241250052"/>
+    <origin xyz="0.023441900000000012 0.04799079999999998 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_20"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_21"/>
   <joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
-    <origin xyz="0.02427040000000001 0.04853779999999998 -0.024276999999999993" rpy="2.2967114952132173e-05 -1.555455138805717 -1.8741197231627162"/>
+    <origin xyz="0.02427040000000001 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_21"/>
     <dynamics damping="0.1"/>
@@ -1352,14 +1352,14 @@
   </joint>
   <link name="r_lower_leg_skin_35"/>
   <joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
-    <origin xyz="0.047748659999999984 -0.031231999999999996 -0.08011299999999999" rpy="-3.1415866827530343 -1.5175846733225289 -0.5415324864684377"/>
+    <origin xyz="0.047748659999999984 -0.031231999999999996 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_35"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_36"/>
   <joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
-    <origin xyz="0.05322408999999999 -0.01560180000000004 -0.088362" rpy="-3.141590341443774 -1.515872652806505 -0.2074073356601009"/>
+    <origin xyz="0.05322408999999999 -0.01560180000000004 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_36"/>
     <dynamics damping="0.1"/>
@@ -1373,21 +1373,21 @@
   </joint>
   <link name="r_lower_leg_skin_38"/>
   <joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
-    <origin xyz="0.04880466999999999 -0.031263 -0.060757000000000005" rpy="3.1415866519890927 -1.515729955403707 -0.5421535995897713"/>
+    <origin xyz="0.04880466999999999 -0.031263 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_38"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_41"/>
   <joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
-    <origin xyz="0.05660089999999999 -0.01591290000000002 -0.049853999999999954" rpy="-3.1415919882511 -1.40681343597041 -0.24823308941290148"/>
+    <origin xyz="0.05660089999999999 -0.01591290000000002 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_41"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_42"/>
   <joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
-    <origin xyz="0.057010599999999995 0.000796199999999983 -0.059079999999999966" rpy="3.141589702392633 -1.4352475041611767 0.006879436515037955"/>
+    <origin xyz="0.057010599999999995 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_42"/>
     <dynamics damping="0.1"/>
@@ -1408,14 +1408,14 @@
   </joint>
   <link name="r_lower_leg_skin_47"/>
   <joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
-    <origin xyz="0.052641629999999995 0.01763889999999997 -0.08886" rpy="3.141589635185034 -1.5169055940579301 0.26264042505774415"/>
+    <origin xyz="0.052641629999999995 0.01763889999999997 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_47"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_lower_leg_skin_49"/>
   <joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
-    <origin xyz="0.04113137 0.032438499999999953 -0.138859" rpy="-3.1415893475069225 -1.4899613569502461 0.7297635921130964"/>
+    <origin xyz="0.04113137 0.032438499999999953 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_49"/>
     <dynamics damping="0.1"/>
@@ -1436,7 +1436,7 @@
   </joint>
   <link name="r_lower_leg_skin_52"/>
   <joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
-    <origin xyz="0.052998319999999995 0.0012663999999999592 -0.11689500000000003" rpy="-3.141591640420276 -1.5031867442105085 0.010871726099408735"/>
+    <origin xyz="0.052998319999999995 0.0012663999999999592 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_52"/>
     <dynamics damping="0.1"/>
@@ -1450,7 +1450,7 @@
   </joint>
   <link name="r_lower_leg_skin_54"/>
   <joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
-    <origin xyz="0.045127079999999986 -0.030749000000000026 -0.11878700000000003" rpy="3.141588251928225 -1.4974514557145626 -0.5751153744726966"/>
+    <origin xyz="0.045127079999999986 -0.030749000000000026 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
     <parent link="r_lower_leg"/>
     <child link="r_lower_leg_skin_54"/>
     <dynamics damping="0.1"/>
@@ -1485,12 +1485,12 @@
   </joint>
   <link name="r_ankle_1">
     <inertial>
-      <origin xyz="0.015143405473968807 -0.0008685000000000082 4.2859082720503316e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.015143405473968821 -0.0008685000000000082 4.2859082720503316e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.6803"/>
       <inertia ixx="0.0004046207392315529" ixy="8.523488844593136e-06" ixz="-2.8913590319053794e-05" iyy="0.0004379396781535379" iyz="3.7330395179426065e-05" izz="0.00031892819418424145"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272424511755 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424511754 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1499,7 +1499,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272424511755 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424511754 0.07010000019073763 0.5784445022502984" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1515,12 +1515,12 @@
   </joint>
   <link name="r_ankle_2">
     <inertial>
-      <origin xyz="0.0011452157753235048 -8.299999999988872e-06 -0.038511854107377785" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.0011452157753235187 -8.299999999988872e-06 -0.038511854107377785" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.265337"/>
       <inertia ixx="0.000327646" ixy="-7.94989e-08" ixz="8.24551e-09" iyy="0.000244632" iyz="2.0701e-05" izz="0.000155777"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272442308745 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442308744 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1529,7 +1529,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272442308745 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442308744 0.07010000019073363 0.5784445022026116" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1537,7 +1537,7 @@
   </link>
   <joint name="r_ankle_roll" type="revolute">
     <origin xyz="0 0 0" rpy="0 0 0"/>
-    <axis xyz="-1.0000001561184808 -6.013654019199066e-16 1.197939497389039e-07"/>
+    <axis xyz="-1.0000001561184808 -6.013654019199066e-16 1.1979394973216095e-07"/>
     <parent link="r_ankle_1"/>
     <child link="r_ankle_2"/>
     <limit effort="37.0" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="7.64"/>
@@ -1545,12 +1545,12 @@
   </joint>
   <link name="r_foot">
     <inertial>
-      <origin xyz="0.039779742643594365 0.004553699994905444 -0.006311816589999797" rpy="-1.832595507822573 0 -1.5707963267948983"/>
+      <origin xyz="0.039779742643594365 0.004553699994905444 -0.006311816589999797" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
       <mass value="0.357881"/>
       <inertia ixx="0.00109611" ixy="-2.9193e-07" ixz="-3.70109e-05" iyy="0.00125706" iyz="5.10952e-06" izz="0.000215359"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.832595507822573 0 -1.5707963267948983"/>
+      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1559,14 +1559,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.832595507822573 0 -1.5707963267948983"/>
+      <origin xyz="-0.10624279747351179 -0.07010000018839523 -0.638744845567865" rpy="-1.8325955078225733 0 -1.5707963267948988"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.0034999280659716164 0 -0.060500343280208146" rpy="3.141592652417863 0 0"/>
+    <origin xyz="-0.0034999280659716026 0 -0.060500343280208146" rpy="3.141592652417863 0 0"/>
     <parent link="r_ankle_2"/>
     <child link="r_foot"/>
     <dynamics damping="0.1"/>
@@ -1580,12 +1580,12 @@
   </joint>
   <link name="l_hip_1">
     <inertial>
-      <origin xyz="-0.0005107999999999918 0.03809229999999998 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0005107999999999918 0.03809229999999999 -8.299999999999974e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.919725"/>
       <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07" iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1594,7 +1594,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285150000005946 -0.025999999999999673 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285150000005946 -0.02599999999999967 0.15191299999998345" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1610,12 +1610,12 @@
   </joint>
   <link name="l_hip_2">
     <inertial>
-      <origin xyz="-0.0015761999999999998 -1.939999999998887e-05 -0.04405299999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="-0.0015761999999999929 -1.940000000000275e-05 -0.04405299999999995" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="0.421106"/>
       <inertia ixx="0.000494284" ixy="1.5483e-07" ixz="-1.86308e-07" iyy="0.000288736" iyz="1.52962e-05" izz="0.000319008"/>
     </inertial>
     <visual>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1624,14 +1624,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04285149980932397 -0.07010000000000878 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04285149980932398 -0.0701000000000088 0.15191299999997981" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_hip_roll" type="revolute">
-    <origin xyz="0 0.044099999999999986 0" rpy="0 0 0"/>
+    <origin xyz="0 0.04409999999999999 0" rpy="0 0 0"/>
     <axis xyz="0.9999999999999998 0.0 2.220446049250313e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
@@ -1640,12 +1640,12 @@
   </joint>
   <link name="l_hip_3">
     <inertial>
-      <origin xyz="-0.0001229999999999981 -0.000282300000000027 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="-0.00012299999999999117 -0.0002823000000000131 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <mass value="0.126212"/>
       <inertia ixx="3.27938e-05" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="5.69957e-05" iyz="3.32338e-08" izz="3.26449e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370899980932098 0.07010000000001013 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.043708999809320984 0.07010000000001014 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1654,26 +1654,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370899980932098 0.07010000000001013 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
+      <origin xyz="0.043708999809320984 0.07010000000001014 -0.22621299999998032" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_leg_ft_sensor" type="fixed">
-    <origin xyz="-0.0008575000000000041 0 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
+    <origin xyz="-0.0008574999999999972 0 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
     <parent link="l_hip_2"/>
     <child link="l_hip_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_leg">
     <inertial>
-      <origin xyz="0.0033868000000000023 0.00010179999999999911 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.0033868000000000092 0.00010179999999999911 -0.07891600000000001" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.8084"/>
       <inertia ixx="0.0064851267308372795" ixy="-0.00012421121423996344" ixz="-3.973994214790893e-06" iyy="0.0014625052983306384" iyz="-0.00013681806887964204" izz="0.006476192420462333"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370899980932098 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043708999809320984 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1682,7 +1682,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370899980932098 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.043708999809320984 -0.07010000000000993 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1698,7 +1698,7 @@
   </joint>
   <link name="l_upper_leg_back_contact"/>
   <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
-    <origin xyz="-0.05125669999999998 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
+    <origin xyz="-0.051256699999999975 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
     <parent link="l_upper_leg"/>
     <child link="l_upper_leg_back_contact"/>
     <dynamics damping="0.1"/>
@@ -1712,12 +1712,12 @@
   </joint>
   <link name="l_lower_leg">
     <inertial>
-      <origin xyz="0.0009997000000000061 0.0034968999999999834 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.000999700000000013 0.0034968999999999834 -0.088567" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <mass value="1.4724"/>
       <inertia ixx="0.0042369860649861665" ixy="-0.00023961518142281364" ixz="6.76166218238396e-05" iyy="0.0015222131363604985" iyz="-0.00023314283575035712" izz="0.004570071832070392"/>
     </inertial>
     <visual>
-      <origin xyz="0.04370899980931698 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980931699 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1726,7 +1726,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.04370899980931698 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
+      <origin xyz="0.04370899980931699 -0.0701000001907579 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1742,12 +1742,12 @@
   </joint>
   <link name="l_ankle_1">
     <inertial>
-      <origin xyz="0.015152971856010333 0.0009021000000000029 4.2316556559285345e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.015152971856010347 0.0009021000000000029 4.2316556559285345e-05" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.6798"/>
       <inertia ixx="0.00040447618553062084" ixy="-8.97867775831874e-06" ixz="2.9134846047326194e-05" iyy="0.00043720150287133953" iyz="3.730206268073148e-05" izz="0.00031828795462876227"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272424516864 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424516862 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1756,7 +1756,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272424516864 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272424516862 -0.07010000019077839 0.5784445022502847" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1772,12 +1772,12 @@
   </joint>
   <link name="l_ankle_2">
     <inertial>
-      <origin xyz="0.0011452157753235326 -8.299999999974994e-06 -0.038511854107377674" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="0.0011452157753235465 -8.299999999974994e-06 -0.038511854107377674" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <mass value="0.265337"/>
       <inertia ixx="0.000327646" ixy="-7.94989e-08" ixz="8.24551e-09" iyy="0.000244632" iyz="2.0701e-05" izz="0.000155777"/>
     </inertial>
     <visual>
-      <origin xyz="-0.10974272442313178 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442313177 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1786,7 +1786,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="-0.10974272442313178 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
+      <origin xyz="-0.10974272442313177 -0.07010000019077639 0.5784445022025997" rpy="1.3089971473150515 0 1.5707963267948972"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/2-5_plus/sim_sea_2-5_l_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -1794,7 +1794,7 @@
   </link>
   <joint name="l_ankle_roll" type="revolute">
     <origin xyz="0 0 0" rpy="0 0 0"/>
-    <axis xyz="1.0000001561184808 6.013654019199066e-16 -1.197939497389039e-07"/>
+    <axis xyz="1.0000001561184808 6.013654019199066e-16 -1.1979394973216095e-07"/>
     <parent link="l_ankle_1"/>
     <child link="l_ankle_2"/>
     <limit effort="37.0" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="7.64"/>
@@ -1823,7 +1823,7 @@
     </collision>
   </link>
   <joint name="l_foot_ft_sensor" type="fixed">
-    <origin xyz="-0.0034999280659716164 0 -0.060500343280208146" rpy="-3.141592643239301 0 0"/>
+    <origin xyz="-0.0034999280659716026 0 -0.060500343280208146" rpy="-3.141592643239301 0 0"/>
     <parent link="l_ankle_2"/>
     <child link="l_foot"/>
     <dynamics damping="0.1"/>
@@ -2315,13 +2315,13 @@
     <sensor name="chest_mtb_acc_0b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915175 0.11636373439232388 -1.4859735024675942</pose>
+      <pose>-0.060753999809265005 -0.0017836000000000032 0.0442341 0.8751677714915177 0.11636373439232388 -1.4859735024675946</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="chest_mtb_acc_0b7" type="accelerometer">
     <parent link="chest"/>
-    <origin rpy="0.8751677714915175 0.11636373439232388 -1.4859735024675942" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
+    <origin rpy="0.8751677714915177 0.11636373439232388 -1.4859735024675946" xyz="-0.060753999809265005 -0.0017836000000000032 0.0442341"/>
   </sensor>
   <gazebo reference="chest">
     <sensor name="chest_mtb_acc_0b8" type="imu">
@@ -2363,13 +2363,13 @@
     <sensor name="r_upper_arm_mtb_acc_2b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460493 1.5707838122500961 -2.682571611620687</pose>
+      <pose>-0.041219399999999996 0.029588000000000003 0.029527899999999982 1.5707954636460495 1.5707838122500957 -2.682571611648293</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_upper_arm_mtb_acc_2b10" type="accelerometer">
     <parent link="r_upper_arm"/>
-    <origin rpy="1.5707954636460493 1.5707838122500961 -2.682571611620687" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
+    <origin rpy="1.5707954636460495 1.5707838122500957 -2.682571611648293" xyz="-0.041219399999999996 0.029588000000000003 0.029527899999999982"/>
   </sensor>
   <gazebo reference="r_upper_arm">
     <sensor name="r_upper_arm_mtb_acc_2b11" type="imu">
@@ -2411,13 +2411,13 @@
     <sensor name="r_forearm_mtb_acc_2b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.07687278473420911 0.005497000000000016 -0.011047912606820772 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
+      <pose>-0.07687278473420911 0.005497000000000016 -0.01104791260682077 0.261799499979578 0.0003704130423281237 1.571258168627349</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b7" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.011047912606820772"/>
+    <origin rpy="0.261799499979578 0.0003704130423281237 1.571258168627349" xyz="-0.07687278473420911 0.005497000000000016 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="r_forearm">
     <sensor name="r_forearm_mtb_acc_2b8" type="imu">
@@ -2435,13 +2435,13 @@
     <sensor name="r_forearm_mtb_acc_2b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848176 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
+      <pose>-0.02163799567592114 0.027924000000000004 -0.013249025401848174 -1.7668262673154445 0.2611912256456084 0.054048344372003315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_forearm_mtb_acc_2b9" type="accelerometer">
     <parent link="r_forearm"/>
-    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848176"/>
+    <origin rpy="-1.7668262673154445 0.2611912256456084 0.054048344372003315" xyz="-0.02163799567592114 0.027924000000000004 -0.013249025401848174"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b10" type="imu">
@@ -2471,13 +2471,13 @@
     <sensor name="l_upper_arm_mtb_acc_1b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.5707971899437438 -1.5707838122500957 2.682571611632433</pose>
+      <pose>-0.04121939999999998 -0.02958800000000003 0.0049920999999999854 -1.570797189926001 -1.5707838122500954 2.6825716116085734</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_arm_mtb_acc_1b12" type="accelerometer">
     <parent link="l_upper_arm"/>
-    <origin rpy="-1.5707971899437438 -1.5707838122500957 2.682571611632433" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
+    <origin rpy="-1.570797189926001 -1.5707838122500954 2.6825716116085734" xyz="-0.04121939999999998 -0.02958800000000003 0.0049920999999999854"/>
   </sensor>
   <gazebo reference="l_upper_arm">
     <sensor name="l_upper_arm_mtb_acc_1b13" type="imu">
@@ -2495,13 +2495,13 @@
     <sensor name="l_forearm_mtb_acc_1b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.07687278473420911 -0.005482999999999988 -0.011047912606820772 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
+      <pose>0.07687278473420911 -0.005482999999999988 -0.01104791260682077 0.261799499979528 0.0003704130423280127 -1.570334484962444</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b7" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.011047912606820772"/>
+    <origin rpy="0.261799499979528 0.0003704130423280127 -1.570334484962444" xyz="0.07687278473420911 -0.005482999999999988 -0.01104791260682077"/>
   </sensor>
   <gazebo reference="l_forearm">
     <sensor name="l_forearm_mtb_acc_1b8" type="imu">
@@ -2519,13 +2519,13 @@
     <sensor name="l_forearm_mtb_acc_1b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177507 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
+      <pose>0.022099187499622495 0.025657000000000013 -0.015117424321177506 1.766821342184715 0.261099829847155 3.0875254820176163</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_forearm_mtb_acc_1b9" type="accelerometer">
     <parent link="l_forearm"/>
-    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177507"/>
+    <origin rpy="1.766821342184715 0.261099829847155 3.0875254820176163" xyz="0.022099187499622495 0.025657000000000013 -0.015117424321177506"/>
   </sensor>
   <gazebo reference="r_upper_leg">
     <sensor name="r_upper_leg_ems_acc_eb8" type="imu">
@@ -2661,24 +2661,24 @@
     <sensor name="r_lower_leg_ems_acc_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04351373 0.01383959999999998 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04351373 0.01383959999999998 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_acc_eb9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04351373 0.01383959999999998 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351373 0.01383959999999998 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_ems_gyro_eb9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.044503292 0.014343499999999974 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.044503292 0.014343499999999974 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_ems_gyro_eb9" type="gyroscope">
     <parent link="r_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.044503292 0.014343499999999974 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503292 0.014343499999999974 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b8" type="imu">
@@ -2696,13 +2696,13 @@
     <sensor name="r_lower_leg_mtb_acc_11b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.0537517 0.01572289999999999 -0.0043179999999999885 -1.5707962918786202 -1.5706802104434698 -1.221730721500941</pose>
+      <pose>0.0537517 0.01572289999999999 -0.0043179999999999885 -1.5707962918765586 -1.5706802104434696 -1.2217307215014315</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b9" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707962918786202 -1.5706802104434698 -1.221730721500941" xyz="0.0537517 0.01572289999999999 -0.0043179999999999885"/>
+    <origin rpy="-1.5707962918765586 -1.5706802104434696 -1.2217307215014315" xyz="0.0537517 0.01572289999999999 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="r_lower_leg">
     <sensor name="r_lower_leg_mtb_acc_11b10" type="imu">
@@ -2720,238 +2720,238 @@
     <sensor name="r_lower_leg_mtb_acc_11b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.01648010000000001 0.04224899999999997 -0.09295800000000004 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.01648010000000001 0.04224899999999997 -0.09295800000000004 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_lower_leg_mtb_acc_11b11" type="accelerometer">
     <parent link="r_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.01648010000000001 0.04224899999999997 -0.09295800000000004"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.01648010000000001 0.04224899999999997 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b12" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.11154352975660221 -0.00081220000825033 -0.022848096181402044 -0.26179918102765654 7.344347216498023e-08 -1.570796052699907</pose>
+      <pose>0.11154352975660221 -0.00081220000825033 -0.022848096181402044 -0.2617991810276566 7.344347213722464e-08 -1.5707960526999072</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b12" type="accelerometer">
     <parent link="r_foot"/>
-    <origin rpy="-0.26179918102765654 7.344347216498023e-08 -1.570796052699907" xyz="0.11154352975660221 -0.00081220000825033 -0.022848096181402044"/>
+    <origin rpy="-0.2617991810276566 7.344347213722464e-08 -1.5707960526999072" xyz="0.11154352975660221 -0.00081220000825033 -0.022848096181402044"/>
   </sensor>
   <gazebo reference="r_foot">
     <sensor name="r_foot_mtb_acc_11b13" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
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       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="r_foot_mtb_acc_11b13" type="accelerometer">
     <parent link="r_foot"/>
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   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.0125771 -0.040407200000000004 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.012577099999999994 -0.040407200000000004 -0.08340699999999998 1.5707963267948972 1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.0125771 -0.040407200000000004 -0.08340699999999998"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.012577099999999994 -0.040407200000000004 -0.08340699999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_acc_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.012575099999999992 0.040407 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.012575099999999985 0.040407 -0.040226999999999985 -1.5707963267948968 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_acc_eb10" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575099999999992 0.040407 -0.040226999999999985"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.012575099999999985 0.040407 -0.040226999999999985"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013081000000000002 -0.040407200000000004 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
+      <pose>-0.013080999999999995 -0.040407200000000004 -0.087979 1.5707963267948972 1.5707963267948961 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb6" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013081000000000002 -0.040407200000000004 -0.087979"/>
+    <origin rpy="1.5707963267948972 1.5707963267948961 0.0" xyz="-0.013080999999999995 -0.040407200000000004 -0.087979"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_ems_gyro_eb10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.013078999999999986 0.040407 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
+      <pose>-0.01307899999999998 0.040407 -0.035654999999999964 -1.5707963267948968 -1.5707963267948963 0.0</pose>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_ems_gyro_eb10" type="gyroscope">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.013078999999999986 0.040407 -0.035654999999999964"/>
+    <origin rpy="-1.5707963267948968 -1.5707963267948963 0.0" xyz="-0.01307899999999998 0.040407 -0.035654999999999964"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b1" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04200163 0.03156500000000001 0.04913199999999998 -1.570795518564555 -1.5706802103355733 -0.733039094711841</pose>
+      <pose>0.042001630000000005 0.03156500000000001 0.04913199999999998 -1.5707955185655114 -1.5706802103355728 -0.7330390947129777</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b1" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.570795518564555 -1.5706802103355733 -0.733039094711841" xyz="0.04200163 0.03156500000000001 0.04913199999999998"/>
+    <origin rpy="-1.5707955185655114 -1.5706802103355728 -0.7330390947129777" xyz="0.042001630000000005 0.03156500000000001 0.04913199999999998"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b2" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05352108999999999 0.007765700000000028 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
+      <pose>0.05352109 0.007765700000000028 0.03925200000000001 -1.5707963863768455 -1.5706802103927162 -1.3089969473954748</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b2" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352108999999999 0.007765700000000028 0.03925200000000001"/>
+    <origin rpy="-1.5707963863768455 -1.5706802103927162 -1.3089969473954748" xyz="0.05352109 0.007765700000000028 0.03925200000000001"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b3" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05378499999999999 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.053785 0.015070600000000003 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b3" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 0.015070600000000003 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053785 0.015070600000000003 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b4" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053784999999999986 -0.014429399999999995 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
+      <pose>0.05378499999999999 -0.014429399999999995 0.0041819999999999635 3.141592653589793 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b4" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.053784999999999986 -0.014429399999999995 0.0041819999999999635"/>
+    <origin rpy="3.141592653589793 -1.5707963267948961 0.0" xyz="0.05378499999999999 -0.014429399999999995 0.0041819999999999635"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b5" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.034129489999999985 -0.041499899999999985 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
+      <pose>0.03412948999999999 -0.041499899999999985 -0.004858000000000029 1.9547688910448342 -1.5707963267948961 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b5" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.034129489999999985 -0.041499899999999985 -0.004858000000000029"/>
+    <origin rpy="1.9547688910448342 -1.5707963267948961 0.0" xyz="0.03412948999999999 -0.041499899999999985 -0.004858000000000029"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b6" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043784999999999984 0.01781110000000001 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
+      <pose>-0.04378499999999998 0.01781110000000001 -0.02641099999999999 -1.5707963267919405 1.5707743139371833 1.570796326789853</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b6" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.043784999999999984 0.01781110000000001 -0.02641099999999999"/>
+    <origin rpy="-1.5707963267919405 1.5707743139371833 1.570796326789853" xyz="-0.04378499999999998 0.01781110000000001 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_upper_leg">
     <sensor name="l_upper_leg_mtb_acc_10b7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>-0.043785 -0.014191799999999997 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
+      <pose>-0.04378499999999999 -0.014191799999999997 -0.02641099999999999 1.5707963267982468 1.5706473388946958 -1.5707963267919158</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_upper_leg_mtb_acc_10b7" type="accelerometer">
     <parent link="l_upper_leg"/>
-    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.043785 -0.014191799999999997 -0.02641099999999999"/>
+    <origin rpy="1.5707963267982468 1.5706473388946958 -1.5707963267919158" xyz="-0.04378499999999999 -0.014191799999999997 -0.02641099999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_acc_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.043513729999999994 0.011314599999999966 -0.09276499999999999 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.04351373 0.011314599999999966 -0.09276499999999999 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_acc_eb7" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.043513729999999994 0.011314599999999966 -0.09276499999999999"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.04351373 0.011314599999999966 -0.09276499999999999"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_ems_gyro_eb7" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.04450329199999999 0.011818499999999968 -0.08830099999999996 3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15</pose>
+      <pose>0.044503292 0.011818499999999968 -0.08830099999999996 -3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16</pose>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_ems_gyro_eb7" type="gyroscope">
     <parent link="l_lower_leg"/>
-    <origin rpy="3.1415926535897922 -1.3526297834539556 1.0015766540504487e-15" xyz="0.04450329199999999 0.011818499999999968 -0.08830099999999996"/>
+    <origin rpy="-3.1415926535897922 -1.3526297834539558 -8.476849710455595e-16" xyz="0.044503292 0.011818499999999968 -0.08830099999999996"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b8" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.053133469999999995 0.017184100000000008 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
+      <pose>0.05313347 0.017184100000000008 -0.0043179999999999885 -2.8972464875193467 -1.5707963267948963 0.0</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b8" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.053133469999999995 0.017184100000000008 -0.0043179999999999885"/>
+    <origin rpy="-2.8972464875193467 -1.5707963267948963 0.0" xyz="0.05313347 0.017184100000000008 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b9" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.05445179999999999 -0.013799100000000002 -0.0043179999999999885 -1.5707963664504991 -1.5706802104435666 -1.919861927351539</pose>
+      <pose>0.054451799999999995 -0.013799100000000002 -0.0043179999999999885 -1.5707963664504991 -1.5706802104435666 -1.919861927351539</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b9" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707963664504991 -1.5706802104435666 -1.919861927351539" xyz="0.05445179999999999 -0.013799100000000002 -0.0043179999999999885"/>
+    <origin rpy="-1.5707963664504991 -1.5706802104435666 -1.919861927351539" xyz="0.054451799999999995 -0.013799100000000002 -0.0043179999999999885"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b10" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.025915100000000003 0.042743999999999976 -0.04346800000000001 -1.5707936954748312 -1.5706802103471822 -0.26180181049683376</pose>
+      <pose>0.02591510000000001 0.042743999999999976 -0.04346800000000001 -1.5707936954714847 -1.5706802103471817 -0.26180181049562956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b10" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="-1.5707936954748312 -1.5706802103471822 -0.26180181049683376" xyz="0.025915100000000003 0.042743999999999976 -0.04346800000000001"/>
+    <origin rpy="-1.5707936954714847 -1.5706802103471817 -0.26180181049562956" xyz="0.02591510000000001 0.042743999999999976 -0.04346800000000001"/>
   </sensor>
   <gazebo reference="l_lower_leg">
     <sensor name="l_lower_leg_mtb_acc_10b11" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.018459299999999988 -0.04171870000000001 -0.09295800000000004 1.570795319271908 -1.5707699978643241 0.2618001870286602</pose>
+      <pose>0.018459299999999994 -0.04171870000000001 -0.09295800000000004 1.5707953192782331 -1.5707699978643246 0.26180018702487956</pose>
       <plugin name="iCub_yarp_gazebo_plugin_ACC" filename="libgazebo_yarp_inertial.so"/>
     </sensor>
   </gazebo>
   <sensor name="l_lower_leg_mtb_acc_10b11" type="accelerometer">
     <parent link="l_lower_leg"/>
-    <origin rpy="1.570795319271908 -1.5707699978643241 0.2618001870286602" xyz="0.018459299999999988 -0.04171870000000001 -0.09295800000000004"/>
+    <origin rpy="1.5707953192782331 -1.5707699978643246 0.26180018702487956" xyz="0.018459299999999994 -0.04171870000000001 -0.09295800000000004"/>
   </sensor>
   <gazebo reference="l_foot">
     <sensor name="l_foot_mtb_acc_10b12" type="imu">
diff --git a/iCub/robots/iCubGenova09/model.urdf b/iCub/robots/iCubGenova09/model.urdf
index ef0206b..ec038f9 100644
--- a/iCub/robots/iCubGenova09/model.urdf
+++ b/iCub/robots/iCubGenova09/model.urdf
@@ -149,7 +149,7 @@
   </link>
   <joint name="r_shoulder_pitch" type="revolute">
     <origin xyz="-0.020835100000000002 -0.0397423 0.1052029" rpy="-0.25326164431680925 2.3014774394592079e-07 0.26179970938509745"/>
-    <axis xyz="1.499044390098182e-07 0.9999999783534812 -1.2401537036323317e-07"/>
+    <axis xyz="1.499044390054707e-07 0.9999999783534812 -1.2401537036188515e-07"/>
     <parent link="chest"/>
     <child link="r_shoulder_1"/>
     <limit effort="50000" lower="-1.53588974175501" upper="0.22689280275926285" velocity="120.0"/>
@@ -157,12 +157,12 @@
   </joint>
   <link name="r_shoulder_2">
     <inertial>
-      <origin xyz="0.000711844151437005 -0.00028997131506725005 -0.027865575116629175" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.0007118441514370015 -0.0002899713150672778 -0.027865575116629175" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <mass value="0.322126"/>
       <inertia ixx="0.000309774" ixy="3.44034e-05" ixz="2.39129e-05" iyy="0.00021568" iyz="-5.45925e-05" izz="0.000222102"/>
     </inertial>
     <visual>
-      <origin xyz="0.02389326106684632 0.1415317167619924 -0.007252350207672714" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.023893261066846316 0.14153171676199236 -0.007252350207672715" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -171,15 +171,15 @@
       </material>
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+      <origin xyz="0.023893261066846316 0.14153171676199236 -0.007252350207672715" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
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   </link>
   <joint name="r_shoulder_roll" type="revolute">
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+    <origin xyz="0.007489008185044645 -0.11150041046657978 0.0004027858966975245" rpy="0.17453306234069357 -0.053747792579130614 -6.132332688812785e-07"/>
+    <axis xyz="-0.9999998262417886 4.2105014356162707e-08 2.4630481189336084e-08"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit effort="50000" lower="0.20943951023931956" upper="2.792526803190927" velocity="120.0"/>
@@ -187,12 +187,12 @@
   </joint>
   <link name="r_shoulder_3">
     <inertial>
-      <origin xyz="-8.928496484206933e-05 -3.376971940446949e-05 -0.007594500252887257" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="-8.928496484206933e-05 -3.376971940446949e-05 -0.00759450025288725" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
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       <inertia ixx="7.20362e-05" ixy="5.87638e-07" ixz="-2.8754e-06" iyy="7.22746e-05" iyz="-3.42816e-06" izz="0.000119776"/>
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     <visual>
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+      <origin xyz="0.030743207452236198 0.1415314977120318 0.04704763137021829" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -201,26 +201,26 @@
       </material>
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-      <origin xyz="0.030743207452236198 0.1415314977120318 0.047047631370218286" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
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       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="r_arm_ft_sensor" type="fixed">
-    <origin xyz="-0.006849946385389872 2.1904996058697002e-07 -0.05429998157789099" rpy="0 0 0"/>
+    <origin xyz="-0.006849946385389875 2.1904996055921444e-07 -0.05429998157789099" rpy="0 0 0"/>
     <parent link="r_shoulder_2"/>
     <child link="r_shoulder_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="r_upper_arm">
     <inertial>
-      <origin xyz="-4.827495476422694e-06 -0.001943485876269635 -0.04747357932833829" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="-4.8274954764261635e-06 -0.001943485876269635 -0.04747357932833829" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <mass value="2.06334"/>
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     <visual>
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+      <origin xyz="0.030743125543818518 0.141531075879301 0.06954757274337188" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -229,15 +229,15 @@
       </material>
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-      <origin xyz="0.03074312554381852 0.141531075879301 0.06954757274337188" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.030743125543818518 0.141531075879301 0.06954757274337188" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
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     </collision>
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
-    <origin xyz="0 4.2183273077367467e-07 -0.02249994137315358" rpy="0 0 0"/>
-    <axis xyz="-3.787621790776764e-08 2.805197706023475e-08 1.0000002566182309"/>
+    <origin xyz="0 4.2183273077367467e-07 -0.022499941373153573" rpy="0 0 0"/>
+    <axis xyz="-3.787621790513063e-08 2.805197706068352e-08 1.0000002566182309"/>
     <parent link="r_shoulder_3"/>
     <child link="r_upper_arm"/>
     <limit effort="50000" lower="-0.8726646259971648" upper="1.3962634015954636" velocity="120.0"/>
@@ -245,12 +245,12 @@
   </joint>
   <link name="r_elbow_1">
     <inertial>
-      <origin xyz="-0.011624818009452066 -0.0018028159470199479 0.022300137248866647" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="-0.011624818009452066 -0.00180281594701992 0.022300137248866647" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
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     </inertial>
     <visual>
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+      <origin xyz="0.020743193621214673 0.14003143574727359 0.19324791023291824" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_elbow_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -259,15 +259,15 @@
       </material>
     </visual>
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-      <origin xyz="0.020743193621214673 0.14003143574727356 0.19324791023291824" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.020743193621214673 0.14003143574727359 0.19324791023291824" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_elbow_1_prt.stl" scale="0.001 0.001 0.001"/>
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     </collision>
   </link>
   <joint name="r_elbow" type="revolute">
-    <origin xyz="0.00999993192260382 0.0014996401320274133 -0.1237003374895465" rpy="0 0 0"/>
-    <axis xyz="2.4949582807394525e-07 -1.0000002733514362 2.7942487010105877e-08"/>
+    <origin xyz="0.009999931922603816 0.0014996401320274133 -0.1237003374895465" rpy="0 0 0"/>
+    <axis xyz="2.4949582809984105e-07 -1.0000002733514362 2.7942487004772865e-08"/>
     <parent link="r_upper_arm"/>
     <child link="r_elbow_1"/>
     <limit effort="50000" lower="-0.05235987755982989" upper="1.3089969389957472" velocity="120.0"/>
@@ -296,8 +296,8 @@
     </collision>
   </link>
   <joint name="r_wrist_prosup" type="revolute">
-    <origin xyz="-0.014999869468812953 -0.0019996499053189787 -0.05530006367251966" rpy="0 0 0"/>
-    <axis xyz="-3.787621790776764e-08 2.805197706023475e-08 1.0000002566182309"/>
+    <origin xyz="-0.014999869468812953 -0.001999649905318951 -0.05530006367251966" rpy="0 0 0"/>
+    <axis xyz="-3.787621790513063e-08 2.805197706068352e-08 1.0000002566182309"/>
     <parent link="r_elbow_1"/>
     <child link="r_forearm"/>
     <limit effort="50000" lower="-1.53588974175501" upper="1.53588974175501" velocity="120.0"/>
@@ -305,12 +305,12 @@
   </joint>
   <link name="r_wrist_1">
     <inertial>
-      <origin xyz="-0.014389827079018234 0.0005092753390521787 -9.78731576423697e-05" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="-0.014389827079018234 0.0005092753390522065 -9.787315764231419e-05" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
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     <visual>
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+      <origin xyz="0.019443109736078983 0.1440385285434042 0.35604805361754455" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -319,7 +319,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.019443109736078983 0.14403852854340418 0.3560480536175445" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.019443109736078983 0.1440385285434042 0.35604805361754455" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -327,7 +327,7 @@
   </link>
   <joint name="r_wrist_pitch" type="revolute">
     <origin xyz="0.016299953353948633 -0.002007442890811839 -0.10750007971210637" rpy="0 0 0"/>
-    <axis xyz="0.9999998262417886 -4.210501434612913e-08 -2.4630481182686846e-08"/>
+    <axis xyz="0.9999998262417886 -4.2105014356162707e-08 -2.4630481189336084e-08"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
     <limit effort="50000" lower="-1.2217304763960306" upper="0.4363323129985824" velocity="120.0"/>
@@ -335,12 +335,12 @@
   </joint>
   <link name="r_hand">
     <inertial>
-      <origin xyz="0.004828314385249669 0.00615667237451184 -0.0671378028889843" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
+      <origin xyz="0.004828314385249662 0.00615667237451184 -0.0671378028889843" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
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+      <origin xyz="0.03574323261035171 0.1370391384923124 0.35604813291443793" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_hand_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -349,27 +349,27 @@
       </material>
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+      <origin xyz="0.03574323261035171 0.1370391384923124 0.35604813291443793" rpy="-0.07156446033079357 0.06196992338505823 -1.8462350402422587"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_r_hand_prt.stl" scale="0.001 0.001 0.001"/>
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   </link>
   <joint name="r_wrist_yaw" type="continuous">
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-    <axis xyz="-2.4949582807394525e-07 1.0000002733514362 -2.7942487010105877e-08"/>
+    <origin xyz="-0.016300122874272734 0.0069993900510918194 0" rpy="0 0 0"/>
+    <axis xyz="-2.4949582809984105e-07 1.0000002733514362 -2.7942487004772865e-08"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_shoulder_1">
     <inertial>
-      <origin xyz="0.0002918276617865645 0.05723090680782866 0.0005026028232598678" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
+      <origin xyz="0.0002918276617865645 0.05723090680782866 0.0005026028232598713" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
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+      <origin xyz="0.030411223823216205 -0.02914047750374663 0.019095766539677896" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_1_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -378,7 +378,7 @@
       </material>
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+      <origin xyz="0.030411223823216205 -0.02914047750374663 0.019095766539677896" rpy="-0.0668874800658252 -0.24445247958725436 -1.300777660386542"/>
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       </geometry>
@@ -386,7 +386,7 @@
   </link>
   <joint name="l_shoulder_pitch" type="revolute">
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+    <axis xyz="3.323079797673039e-07 0.9999999783534342 1.4452224303407313e-07"/>
     <parent link="chest"/>
     <child link="l_shoulder_1"/>
     <limit effort="50000" lower="-1.53588974175501" upper="0.22689280275926285" velocity="120.0"/>
@@ -394,12 +394,12 @@
   </joint>
   <link name="l_shoulder_2">
     <inertial>
-      <origin xyz="0.003293362025486902 0.0002563804707528261 -0.027865685757097337" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="0.0032933620254868984 0.0002563804707528261 -0.027865685757097337" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
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         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_2_prt.stl" scale="0.001 0.001 0.001"/>
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@@ -408,15 +408,15 @@
       </material>
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   <joint name="l_shoulder_roll" type="revolute">
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+    <origin xyz="0.004992849331690818 0.111499838456099 0.0002686502277366859" rpy="-0.17453296140985 -0.05374759931933852 0"/>
+    <axis xyz="0.9999998262417684 2.0348252649342313e-07 -4.0230228454118944e-08"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit effort="50000" lower="0.20943951023931956" upper="2.792526803190927" velocity="120.0"/>
@@ -424,12 +424,12 @@
   </joint>
   <link name="l_shoulder_3">
     <inertial>
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+      <origin xyz="-4.41626402200232e-06 9.587749727052453e-05 -0.007326213473011087" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
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+      <origin xyz="0.030743231026171738 -0.14153148936381538 0.04704764107945979" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -438,26 +438,26 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.030743231026171703 -0.14153148936381538 0.047047641079459794" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="0.030743231026171738 -0.14153148936381538 0.04704764107945979" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_shoulder_3_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_arm_ft_sensor" type="fixed">
-    <origin xyz="-0.004350133156978318 3.632573233602887e-07 -0.05430003872406172" rpy="0 0 0"/>
+    <origin xyz="-0.004350133156978329 3.632573233880443e-07 -0.05430003872406172" rpy="0 0 0"/>
     <parent link="l_shoulder_2"/>
     <child link="l_shoulder_3"/>
     <dynamics damping="0.1"/>
   </joint>
   <link name="l_upper_arm">
     <inertial>
-      <origin xyz="0.008436901028384347 -0.02825065136033926 -0.04871214093553894" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="0.008436901028384354 -0.028250651360339274 -0.048712140935538925" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <mass value="1.9475"/>
       <inertia ixx="0.00402757" ixy="0.000270166" ixz="-0.000286443" iyy="0.0208452" iyz="0.000223927" izz="0.0187793"/>
     </inertial>
     <visual>
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+      <origin xyz="0.030743149468679197 -0.14153106591133113 0.06954758245258448" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -466,15 +466,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.030743149468679162 -0.14153106591133113 0.06954758245258448" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="0.030743149468679197 -0.14153106591133113 0.06954758245258448" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_upperarm_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
-    <origin xyz="0 -4.2345248449371375e-07 -0.022499941373124423" rpy="0 0 0"/>
-    <axis xyz="2.2276474049102235e-08 -4.393786247302041e-08 -1.0000002566182309"/>
+    <origin xyz="0 -4.2345248449371375e-07 -0.02249994137312443" rpy="0 0 0"/>
+    <axis xyz="2.227647404040578e-08 -4.393786245948661e-08 -1.0000002566182309"/>
     <parent link="l_shoulder_3"/>
     <child link="l_upper_arm"/>
     <limit effort="50000" lower="-0.8726646259971648" upper="1.3962634015954636" velocity="120.0"/>
@@ -482,12 +482,12 @@
   </joint>
   <link name="l_elbow_1">
     <inertial>
-      <origin xyz="-0.010241946078109288 0.0018224069895867168 -0.015089620258555453" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="-0.010241946078109292 0.0018224069895867168 -0.01508962025855548" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <mass value="0.230254"/>
       <inertia ixx="0.0001165" ixy="7.51175e-07" ixz="-9.8725e-06" iyy="0.00012549" iyz="-1.03338e-05" izz="4.38981e-05"/>
     </inertial>
     <visual>
-      <origin xyz="0.020743219233759835 -0.14003141848790232 0.19324791999016797" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="0.020743219233759866 -0.14003141848790232 0.19324791999016794" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_elbow_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -496,7 +496,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.020743219233759835 -0.14003141848790232 0.19324791999016797" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="0.020743219233759866 -0.14003141848790232 0.19324791999016794" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_elbow_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -504,7 +504,7 @@
   </link>
   <joint name="l_elbow" type="revolute">
     <origin xyz="0.009999930234919404 -0.001499647423428896 -0.12370033753758375" rpy="0 0 0"/>
-    <axis xyz="-8.811824174789715e-08 -1.0000002733514628 4.404736120498342e-08"/>
+    <axis xyz="-8.811824154381087e-08 -1.0000002733514628 4.4047361189014644e-08"/>
     <parent link="l_upper_arm"/>
     <child link="l_elbow_1"/>
     <limit effort="50000" lower="-0.05235987755982989" upper="1.3089969389957472" velocity="120.0"/>
@@ -512,12 +512,12 @@
   </joint>
   <link name="l_forearm">
     <inertial>
-      <origin xyz="-0.0062698741022980675 -4.68551245806359e-05 -0.030648347755607208" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="-0.006269874102298061 -4.68551245806359e-05 -0.030648347755607153" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <mass value="0.90793"/>
       <inertia ixx="0.00131822" ixy="-7.39737e-07" ixz="-2.69292e-05" iyy="0.00128448" iyz="0.000108551" izz="0.000646975"/>
     </inertial>
     <visual>
-      <origin xyz="0.035743089887937486 -0.14203106199153712 0.24854798357264754" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="0.03574308988793752 -0.14203106199153712 0.24854798357264754" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_forearm_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -526,15 +526,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.035743089887937486 -0.14203106199153712 0.24854798357264754" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="0.03574308988793752 -0.14203106199153712 0.24854798357264754" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_forearm_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_prosup" type="revolute">
-    <origin xyz="-0.0149998706541777 0.0019996435036348514 -0.0553000635824798" rpy="0 0 0"/>
-    <axis xyz="2.2276474049102235e-08 -4.393786247302041e-08 -1.0000002566182309"/>
+    <origin xyz="-0.014999870654177704 0.0019996435036348514 -0.055300063582479825" rpy="0 0 0"/>
+    <axis xyz="2.227647404040578e-08 -4.393786245948661e-08 -1.0000002566182309"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
     <limit effort="50000" lower="-1.53588974175501" upper="1.53588974175501" velocity="120.0"/>
@@ -542,12 +542,12 @@
   </joint>
   <link name="l_wrist_1">
     <inertial>
-      <origin xyz="-0.014390150453737368 -0.0005083960996520864 -9.893035257668714e-05" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="-0.014390150453737368 -0.0005083960996520587 -9.893035257668714e-05" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <mass value="0.0344005"/>
       <inertia ixx="5.11755e-06" ixy="-9.19776e-07" ixz="-1.4756e-08" iyy="1.60849e-06" iyz="-1.11493e-07" izz="5.58546e-06"/>
     </inertial>
     <visual>
-      <origin xyz="0.019143073953651328 -0.1440379572096098 0.3560476247151885" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="0.019143073953651363 -0.14403795720960977 0.3560476247151885" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -556,15 +556,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.019143073953651328 -0.1440379572096098 0.3560476247151885" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="0.019143073953651363 -0.14403795720960977 0.3560476247151885" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_wrist_1_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_pitch" type="revolute">
-    <origin xyz="0.016600015934286182 0.0020068952180725685 -0.10749964114254112" rpy="0 0 0"/>
-    <axis xyz="-0.9999998262417685 -2.0348252625938444e-07 4.023022846062156e-08"/>
+    <origin xyz="0.016600015934286182 0.002006895218072541 -0.10749964114254112" rpy="0 0 0"/>
+    <axis xyz="-0.9999998262417684 -2.0348252649342313e-07 4.0230228454118944e-08"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
     <limit effort="50000" lower="-1.2217304763960306" upper="0.4363323129985824" velocity="120.0"/>
@@ -572,12 +572,12 @@
   </joint>
   <link name="l_hand">
     <inertial>
-      <origin xyz="0.004786523181334726 -0.0061337378723908265 -0.0672770617484692" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="0.004786523181334722 -0.0061337378723908265 -0.0672770617484692" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <mass value="0.263541"/>
       <inertia ixx="0.000427427" ixy="-4.77094e-05" ixz="-1.03141e-05" iyy="0.000346557" iyz="1.19895e-05" izz="0.000161212"/>
     </inertial>
     <visual>
-      <origin xyz="0.035443195698380774 -0.13703856452803848 0.35604770325391955" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="0.03544319569838081 -0.13703856452803848 0.35604770325391955" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_hand_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
@@ -586,15 +586,15 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.035443195698380774 -0.13703856452803848 0.35604770325391955" rpy="-0.0715644949880594 -0.06196998841864678 -1.295357449823658"/>
+      <origin xyz="0.03544319569838081 -0.13703856452803848 0.35604770325391955" rpy="-0.07156449498805939 -0.06196998841864677 -1.2953574498236577"/>
       <geometry>
         <mesh filename="package://iCub/meshes/simmechanics/sim_icub3_l_hand_prt.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
   <joint name="l_wrist_yaw" type="revolute">
-    <origin xyz="-0.016300121744729387 -0.006999392681571209 0" rpy="0 0 0"/>
-    <axis xyz="8.811824174789715e-08 1.0000002733514628 -4.404736120498342e-08"/>
+    <origin xyz="-0.016300121744729387 -0.0069993926815711816 0" rpy="0 0 0"/>
+    <axis xyz="8.811824154381087e-08 1.0000002733514628 -4.4047361189014644e-08"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
     <limit effort="50000" lower="-0.2617993877991494" upper="0.6108652381980153" velocity="120.0"/>
@@ -1524,7 +1524,7 @@
         <frame>sensor</frame>
         <measure_direction>child_to_parent</measure_direction>
       </force_torque>
-      <pose>-0.004350133156978318 3.632573233602887e-07 -0.05430003872406172 3.141592646862139 -3.10468332187885e-08 -1.5707962571980942</pose>
+      <pose>-0.004350133156978329 3.632573233880443e-07 -0.05430003872406172 3.141592646862139 -3.104683320142575e-08 -1.5707962571980942</pose>
       <plugin name="left_arm_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
   <yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_left_arm_ft.ini</yarpConfigurationFile>
 </plugin>
@@ -1536,7 +1536,7 @@
       <frame>sensor</frame>
       <measure_direction>child_to_parent</measure_direction>
     </force_torque>
-    <origin rpy="3.141592646862139 -3.10468332187885e-08 -1.5707962571980942" xyz="-0.004350133156978318 3.632573233602887e-07 -0.05430003872406172"/>
+    <origin rpy="3.141592646862139 -3.104683320142575e-08 -1.5707962571980942" xyz="-0.004350133156978329 3.632573233880443e-07 -0.05430003872406172"/>
   </sensor>
   <gazebo reference="r_arm_ft_sensor">
     <sensor name="r_arm_ft_sensor" type="force_torque">
@@ -1546,7 +1546,7 @@
         <frame>sensor</frame>
         <measure_direction>child_to_parent</measure_direction>
       </force_torque>
-      <pose>-0.006849946385389872 2.1904996058697002e-07 -0.05429998157789099 3.141592644717707 4.094299285979593e-08 1.5707964185756365</pose>
+      <pose>-0.006849946385389875 2.1904996055921444e-07 -0.05429998157789099 3.141592644717707 4.094299285979593e-08 1.5707964185756365</pose>
       <plugin name="right_arm_ft_plugin" filename="libgazebo_yarp_forcetorque.so">
   <yarpConfigurationFile>model://iCub/conf_icub3/FT/gazebo_icub_right_arm_ft.ini</yarpConfigurationFile>
 </plugin>
@@ -1558,7 +1558,7 @@
       <frame>sensor</frame>
       <measure_direction>child_to_parent</measure_direction>
     </force_torque>
-    <origin rpy="3.141592644717707 4.094299285979593e-08 1.5707964185756365" xyz="-0.006849946385389872 2.1904996058697002e-07 -0.05429998157789099"/>
+    <origin rpy="3.141592644717707 4.094299285979593e-08 1.5707964185756365" xyz="-0.006849946385389875 2.1904996055921444e-07 -0.05429998157789099"/>
   </sensor>
   <gazebo reference="l_foot_front_ft_sensor">
     <sensor name="l_foot_front_ft_sensor" type="force_torque">