diff --git a/tests/ergocub-model-test.cpp b/tests/ergocub-model-test.cpp
index 362ce03d..baa5e97a 100644
--- a/tests/ergocub-model-test.cpp
+++ b/tests/ergocub-model-test.cpp
@@ -306,6 +306,14 @@ bool checkAxisDirections(iDynTree::KinDynComputations & comp, bool isergoCub1_1M
         expectedDirectionInRootLink.push_back(iDynTree::Direction(0.525416,0.838737,0.143034));
         axisNames.push_back("l_index_add");
         expectedDirectionInRootLink.push_back(iDynTree::Direction(-0.250563,-0.935113,-0.250563));
+        axisNames.push_back("r_index_prox");
+        expectedDirectionInRootLink.push_back(iDynTree::Direction(0.947223,0.290266,0.136064));
+        axisNames.push_back("r_index_dist");
+        expectedDirectionInRootLink.push_back(iDynTree::Direction(0.947223,0.290266,0.136064));
+        axisNames.push_back("l_index_prox");
+        expectedDirectionInRootLink.push_back(iDynTree::Direction(-0.947223,0.290266,-0.136064));
+        axisNames.push_back("l_index_dist");
+        expectedDirectionInRootLink.push_back(iDynTree::Direction(-0.947223,0.290266,-0.136064));
     }
     else {
         axisNames.push_back("r_thumb_prox");
@@ -320,11 +328,15 @@ bool checkAxisDirections(iDynTree::KinDynComputations & comp, bool isergoCub1_1M
         expectedDirectionInRootLink.push_back(iDynTree::Direction(0.439716,0.892571,0.0998355));
         axisNames.push_back("l_index_add");
         expectedDirectionInRootLink.push_back(iDynTree::Direction(0.250563,0.935113,0.250563));
+        axisNames.push_back("r_index_prox");
+        expectedDirectionInRootLink.push_back(iDynTree::Direction(0.884949,0.32618,0.332372));
+        axisNames.push_back("r_index_dist");
+        expectedDirectionInRootLink.push_back(iDynTree::Direction(0.884949,0.32618,0.332372));
+        axisNames.push_back("l_index_prox");
+        expectedDirectionInRootLink.push_back(iDynTree::Direction(-0.884949,0.32618,-0.332372));
+        axisNames.push_back("l_index_dist");
+        expectedDirectionInRootLink.push_back(iDynTree::Direction(-0.884949,0.32618,-0.332372));
     }
-    axisNames.push_back("r_index_prox");
-    expectedDirectionInRootLink.push_back(iDynTree::Direction(0.947223,0.290266,0.136064));
-    axisNames.push_back("r_index_dist");
-    expectedDirectionInRootLink.push_back(iDynTree::Direction(0.947223,0.290266,0.136064));
     axisNames.push_back("r_middle_prox");
     expectedDirectionInRootLink.push_back(iDynTree::Direction(0.961047,0.271447,0.0520081));
     axisNames.push_back("r_middle_dist");
@@ -351,10 +363,6 @@ bool checkAxisDirections(iDynTree::KinDynComputations & comp, bool isergoCub1_1M
     expectedDirectionInRootLink.push_back(iDynTree::Direction(0.116648,0.227771,-0.966702));
     axisNames.push_back("l_thumb_add");
     expectedDirectionInRootLink.push_back(iDynTree::Direction(0.329847,0.160871,-0.930227));
-    axisNames.push_back("l_index_prox");
-    expectedDirectionInRootLink.push_back(iDynTree::Direction(-0.947223,0.290266,-0.136064));
-    axisNames.push_back("l_index_dist");
-    expectedDirectionInRootLink.push_back(iDynTree::Direction(-0.947223,0.290266,-0.136064));
     axisNames.push_back("l_middle_prox");
     expectedDirectionInRootLink.push_back(iDynTree::Direction(-0.961047,0.271447,-0.0520081));
     axisNames.push_back("l_middle_dist");
diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf b/urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf
index 9a4d8ce3..3430d585 100644
--- a/urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf
+++ b/urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf
@@ -159,7 +159,7 @@
   </link>
   <joint name="torso_yaw" type="revolute">
     <origin xyz="7.32502235717738e-17 2.561326957877574e-16 0.0644699999999999" rpy="-3.971868545919581e-15 -4.385099568445115e-23 -3.1763738272196853e-22"/>
-    <axis xyz="2.084891490280543e-15 -2.11369334484512e-15 -1"/>
+    <axis xyz="2.084864385226231e-15 -2.114127025714114e-15 -1"/>
     <parent link="torso_2"/>
     <child link="chest"/>
     <limit lower="-0.7504915783575618" upper="0.7504915783575618" effort="1e+9" velocity="1e+9"/>
@@ -225,7 +225,7 @@
   </link>
   <joint name="neck_pitch" type="revolute">
     <origin xyz="0.004861512347971912 4.1253975310307907e-16 0.22529999999999994" rpy="-1.541978321110266e-15 -2.0480667158215426e-15 -1.389802281096855e-15"/>
-    <axis xyz="2.6474328740344387e-18 -1 -7.807082888609213e-16"/>
+    <axis xyz="2.6472211157644926e-18 -1 -7.807858529815144e-16"/>
     <parent link="chest"/>
     <child link="neck_2"/>
     <limit lower="-0.5235987755982988" upper="0.3839724354387525" effort="1e+9" velocity="1e+9"/>
@@ -291,7 +291,7 @@
   </link>
   <joint name="r_shoulder_roll" type="revolute">
     <origin xyz="0.007499999999999977 -0.09330000000000004 -3.885780586188048e-16" rpy="-9.325873406851307e-15 9.520162436160717e-15 -4.718447854656912e-15"/>
-    <axis xyz="-1.0000000000000007 1.0148132334463434e-15 -2.567390744445154e-16"/>
+    <axis xyz="-1.0000000000000007 8.760353553682006e-16 -4.510281037539194e-16"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit lower="-0.2617993877991494" upper="2.6179938779914944" effort="1e+9" velocity="1e+9"/>
@@ -354,7 +354,7 @@
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
     <origin xyz="-7.979727989493313e-17 5.551115123125783e-17 -0.02249999999999998" rpy="-5.55111512312578e-17 -3.0531133177191805e-16 7.660538869913577e-15"/>
-    <axis xyz="3.122502256758238e-16 -2.498001805406602e-16 1.0000000000000004"/>
+    <axis xyz="2.567390744445681e-16 2.775557561562927e-17 1.0000000000000004"/>
     <parent link="r_shoulder_3"/>
     <child link="r_upper_arm"/>
     <limit lower="-0.8726646259971648" upper="1.3962634015954636" effort="1e+9" velocity="1e+9"/>
@@ -387,7 +387,7 @@
   </link>
   <joint name="r_elbow" type="revolute">
     <origin xyz="0.01000000000000002 0.0015000000000005287 -0.12369999999999992" rpy="-4.1633363423443286e-16 -5.842548667089886e-15 -8.326672684688652e-15"/>
-    <axis xyz="4.163336342349831e-17 -1.0000000000000027 2.5673907444456773e-14"/>
+    <axis xyz="3.001071613439684e-16 -1.0000000000000027 1.2712053631958044e-14"/>
     <parent link="r_upper_arm"/>
     <child link="r_forearm"/>
     <limit lower="-0.05235987755982989" upper="1.3089969389957472" effort="1e+9" velocity="1e+9"/>
@@ -420,7 +420,7 @@
   </link>
   <joint name="r_wrist_yaw" type="revolute">
     <origin xyz="-0.014999999999999767 -0.0019999999999965323 -0.1943500000000011" rpy="-2.081668171172164e-15 -1.1587952819525071e-14 -2.997602166487915e-15"/>
-    <axis xyz="6.057654378111005e-15 -5.273559366969643e-16 1.000000000000002"/>
+    <axis xyz="5.5788706987414416e-15 -1.2628786905111175e-14 1.000000000000002"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
     <limit lower="-1.6057029118347832" upper="1.6057029118347832" effort="1e+9" velocity="1e+9"/>
@@ -453,7 +453,7 @@
   </link>
   <joint name="r_wrist_roll" type="revolute">
     <origin xyz="1.4224732503009818e-16 2.498001805406602e-16 1.3877787807814457e-16" rpy="3.8857805861880484e-16 5.551115123125783e-17 -1.6653345369377353e-16"/>
-    <axis xyz="0.9999999999999997 2.6298196259544278e-11 -1.0793549387599907e-10"/>
+    <axis xyz="0.9999999999999997 -2.480654570646835e-16 -1.873501354054953e-16"/>
     <parent link="r_wrist_1"/>
     <child link="r_wrist_2"/>
     <limit lower="-1.0821041362364843" upper="0.9075712110370514" effort="1e+9" velocity="1e+9"/>
@@ -486,7 +486,7 @@
   </link>
   <joint name="r_wrist_pitch" type="revolute">
     <origin xyz="-4.85722573273506e-17 0 2.7755575615628914e-17" rpy="2.2204460492503136e-16 -5.551115123125783e-17 -3.88578058618805e-16"/>
-    <axis xyz="2.6298942190638987e-11 -0.9999999999999998 -3.1325553262462336e-11"/>
+    <axis xyz="4.128641872824801e-16 -0.9999999999999998 -8.049116928532385e-16"/>
     <parent link="r_wrist_2"/>
     <child link="r_hand_palm"/>
     <limit lower="-0.5585053606381855" upper="0.5585053606381855" effort="1e+9" velocity="1e+9"/>
@@ -519,7 +519,7 @@
   </link>
   <joint name="r_index_add" type="revolute">
     <origin xyz="0.022499999999999992 0.0015000000000002234 -0.06859999999999983" rpy="-1.6833790438334957e-15 0.29670597283904 3.141592653589792"/>
-    <axis xyz="1.5990673923572052e-11 -0.9999999999999999 3.764672729074698e-11"/>
+    <axis xyz="-5.389323627044831e-16 -0.9999999999999999 1.6046911875538946e-15"/>
     <parent link="r_hand_palm"/>
     <child link="r_hand_index_1"/>
     <limit lower="0" upper="0.2617993877991494" effort="1e+9" velocity="1e+9"/>
@@ -552,7 +552,7 @@
   </link>
   <joint name="r_middle_prox" type="revolute">
     <origin xyz="0.009599999988882939 0.00150000000000039 -0.1030000000010361" rpy="-1.8596235662471376e-15 -1.0793124727292991e-10 3.1415926535897927"/>
-    <axis xyz="-0.9999999999999996 -2.6303416042483343e-11 -1.6098233857581758e-15"/>
+    <axis xyz="-0.9999999999999996 -4.562322741819007e-15 1.079337105802658e-10"/>
     <parent link="r_hand_palm"/>
     <child link="r_hand_middle_1"/>
     <limit lower="0" upper="1.5707963267948966" effort="1e+9" velocity="1e+9"/>
@@ -585,7 +585,7 @@
   </link>
   <joint name="r_pinkie_prox" type="revolute">
     <origin xyz="-0.035982680943166166 0.002377759579109573 -0.09206828131946371" rpy="4.1095343980510334e-4 -0.08726646259972864 3.1154127148098776"/>
-    <axis xyz="-0.9999999999999998 -2.8722034177571486e-11 -1.0870652988881346e-10"/>
+    <axis xyz="-0.9999999999999998 4.364801434782878e-15 0"/>
     <parent link="r_hand_palm"/>
     <child link="r_hand_pinkie_1"/>
     <limit lower="0" upper="1.5707963267948966" effort="1e+9" velocity="1e+9"/>
@@ -618,7 +618,7 @@
   </link>
   <joint name="r_ring_prox" type="revolute">
     <origin xyz="-0.015417755568684424 0.001849813728471178 -0.09788067183717986" rpy="2.019965811910767e-14 -0.08726646270762471 3.11541271480963"/>
-    <axis xyz="-0.9999999999999999 -2.893157069232462e-11 -8.271022755579338e-13"/>
+    <axis xyz="-0.9999999999999997 -2.498435601042699e-13 1.0789123761067998e-10"/>
     <parent link="r_hand_palm"/>
     <child link="r_hand_ring_1"/>
     <limit lower="0" upper="1.5707963267948966" effort="1e+9" velocity="1e+9"/>
@@ -651,7 +651,7 @@
   </link>
   <joint name="r_thumb_add" type="revolute">
     <origin xyz="0.023374863252664337 0.003000000000000058 -0.03452383847607743" rpy="1.566711369727914e-15 -0.226892802651332 -5.127419028200447e-16"/>
-    <axis xyz="3.219646771412954e-15 -3.6435554830318275e-11 0.9999999999999998"/>
+    <axis xyz="-1.0793213545134961e-10 2.4089270891491094e-15 0.9999999999999998"/>
     <parent link="r_hand_palm"/>
     <child link="r_hand_thumb_1"/>
     <limit lower="0" upper="1.7453292519943295" effort="1e+9" velocity="1e+9"/>
@@ -684,7 +684,7 @@
   </link>
   <joint name="r_thumb_prox" type="revolute">
     <origin xyz="0.0380746544995605 0.003469109580325286 -0.0036017448035497446" rpy="-1.7697290685198344 -0.13749152761469902 -2.965379613992927"/>
-    <axis xyz="2.4122360359202233e-11 -3.299033268788776e-11 -0.9999999999999999"/>
+    <axis xyz="9.992007221626409e-16 -1.1102230246251565e-15 -0.9999999999999997"/>
     <parent link="r_hand_thumb_1"/>
     <child link="r_hand_thumb_2"/>
     <limit lower="0" upper="1.5707963267948966" effort="1e+9" velocity="1e+9"/>
@@ -717,7 +717,7 @@
   </link>
   <joint name="r_thumb_dist" type="revolute">
     <origin xyz="-0.035000000003687984 0.0014999999936707586 -1.0737244426906045e-12" rpy="-1.87424381570267e-11 1.845751329554446e-11 3.1415926535883125"/>
-    <axis xyz="-5.6626925371494566e-12 5.173264594478845e-11 -0.9999999999999999"/>
+    <axis xyz="1.8458673825549887e-11 1.8743298579870785e-11 -0.9999999999999999"/>
     <parent link="r_hand_thumb_2"/>
     <child link="r_hand_thumb_3"/>
     <limit lower="0" upper="1.7697638615222502" effort="1e+9" velocity="1e+9"/>
@@ -750,7 +750,7 @@
   </link>
   <joint name="r_ring_dist" type="revolute">
     <origin xyz="-1.498102770308707e-11 -0.0015000000002765024 -0.040000000000737446" rpy="-5.828670879282074e-16 1.0789557441936992e-10 2.461919557106285e-13"/>
-    <axis xyz="-0.9999999999999999 -2.8681237072836204e-11 -1.0871797212486101e-10"/>
+    <axis xyz="-0.9999999999999999 2.4672971998818127e-13 -1.0789569585001324e-10"/>
     <parent link="r_hand_ring_1"/>
     <child link="r_hand_ring_2"/>
     <limit lower="0" upper="1.7994344588061537" effort="1e+9" velocity="1e+9"/>
@@ -783,7 +783,7 @@
   </link>
   <joint name="r_pinkie_dist" type="revolute">
     <origin xyz="4.5102810375396984e-17 -0.001514193309379297 -0.03499938883211873" rpy="-0.0012956915198213642 -1.8735013540549517e-16 -2.775557561562892e-16"/>
-    <axis xyz="-0.9999999999999999 -2.8584519595543556e-11 -1.0874608649338082e-10"/>
+    <axis xyz="-0.9999999999999999 9.036247971209683e-16 -2.4586692098222613e-15"/>
     <parent link="r_hand_pinkie_1"/>
     <child link="r_hand_pinkie_2"/>
     <limit lower="0" upper="1.7226399717184033" effort="1e+9" velocity="1e+9"/>
@@ -816,7 +816,7 @@
   </link>
   <joint name="r_middle_dist" type="revolute">
     <origin xyz="-1.5434174771566944e-11 -0.0014999999999999736 -0.0399999999989637" rpy="-7.535550930470877e-8 1.0793281546295219e-10 0"/>
-    <axis xyz="-0.9999999999999998 -2.630088161156088e-11 -1.079318529386326e-10"/>
+    <axis xyz="-0.9999999999999998 -2.0695253452753748e-15 -1.0792969296086812e-10"/>
     <parent link="r_hand_middle_1"/>
     <child link="r_hand_middle_2"/>
     <limit lower="0" upper="1.7994344588061537" effort="1e+9" velocity="1e+9"/>
@@ -849,7 +849,7 @@
   </link>
   <joint name="r_index_prox" type="revolute">
     <origin xyz="-0.009192533317427393 5.551115123125783e-17 -0.030713451316238316" rpy="-3.0531133177191805e-16 -2.0816681711721685e-17 0"/>
-    <axis xyz="-0.9781476007113635 -2.3465277303774676e-11 -0.20791169092333764"/>
+    <axis xyz="-0.9999999999999993 3.434752482434078e-15 -1.672273430841644e-15"/>
     <parent link="r_hand_index_1"/>
     <child link="r_hand_index_2"/>
     <limit lower="0" upper="1.5707963267948966" effort="1e+9" velocity="1e+9"/>
@@ -882,7 +882,7 @@
   </link>
   <joint name="r_index_dist" type="revolute">
     <origin xyz="4.163336342344337e-17 -0.0014999999999998903 -0.040000000000000036" rpy="1.942890293094024e-16 3.469446951953614e-17 1.665334536937736e-16"/>
-    <axis xyz="-0.9781476007113639 -2.3469068155297194e-11 -0.2079116909233363"/>
+    <axis xyz="-0.9999999999999993 -2.0122792321330975e-16 -4.510281037539697e-16"/>
     <parent link="r_hand_index_2"/>
     <child link="r_hand_index_3"/>
     <limit lower="0" upper="1.7994344588061537" effort="1e+9" velocity="1e+9"/>
@@ -915,7 +915,7 @@
   </link>
   <joint name="neck_roll" type="revolute">
     <origin xyz="8.673617379884035e-19 6.416192023745373e-17 0.009499999999999786" rpy="-1.7364294099408703e-15 -2.980403162017727e-16 1.580860396783509e-15"/>
-    <axis xyz="1 -1.6832426434147407e-15 -3.770068640066623e-15"/>
+    <axis xyz="1 -1.6820355477448088e-15 -3.806893332301044e-15"/>
     <parent link="neck_2"/>
     <child link="neck_3"/>
     <limit lower="-0.3490658503988659" upper="0.3490658503988659" effort="1e+9" velocity="1e+9"/>
@@ -948,7 +948,7 @@
   </link>
   <joint name="neck_yaw" type="revolute">
     <origin xyz="-1.43982048506075e-16 -4.1419339784385294e-17 0.06914999999999999" rpy="1.2720090288173385e-15 -3.1687776687987536e-15 3.715432083235576e-16"/>
-    <axis xyz="3.4240774521066226e-15 -2.686540855695209e-16 0.9999999999999998"/>
+    <axis xyz="3.1628618281392715e-15 1.6479574685948862e-15 0.9999999999999998"/>
     <parent link="neck_3"/>
     <child link="head"/>
     <limit lower="-0.7853981633974483" upper="0.7853981633974483" effort="1e+9" velocity="1e+9"/>
@@ -981,7 +981,7 @@
   </link>
   <joint name="camera_tilt" type="revolute">
     <origin xyz="0.06250999999999993 -3.0000000001105853e-5 0.07639250000000064" rpy="9.166950960511526e-15 2.595819949100105e-4 1.9343583275079285e-15"/>
-    <axis xyz="-3.611636085008543e-15 -1 -1.9429477071513935e-15"/>
+    <axis xyz="-3.1332662159460226e-17 -1 -1.3036401662462866e-15"/>
     <parent link="head"/>
     <child link="realsense"/>
     <limit lower="-0.5235987755982988" upper="0.5235987755982988" effort="1e+9" velocity="1e+9"/>
@@ -1014,7 +1014,7 @@
   </link>
   <joint name="l_shoulder_roll" type="revolute">
     <origin xyz="0.005000000000000011 0.09329999999999987 -3.0531133177191805e-16" rpy="2.6895152771544417e-14 1.790234627208065e-15 -2.3314683517128287e-15"/>
-    <axis xyz="1 7.615436059538576e-16 3.2196467714129958e-15"/>
+    <axis xyz="1 4.891920202255013e-16 3.3029134982598896e-15"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit lower="-0.2617993877991494" upper="2.6179938779914944" effort="1e+9" velocity="1e+9"/>
@@ -1077,7 +1077,7 @@
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
     <origin xyz="4.163336342344337e-17 -5.551115123125783e-17 -0.022499999999999937" rpy="-3.3029134982598486e-15 -3.002459392220658e-14 6.383782391594671e-15"/>
-    <axis xyz="-2.982336599899327e-14 3.2196467714129528e-15 -0.9999999999999977"/>
+    <axis xyz="-3.0080105073437835e-14 3.191891195797326e-15 -0.9999999999999977"/>
     <parent link="l_shoulder_3"/>
     <child link="l_upper_arm"/>
     <limit lower="-0.8726646259971648" upper="1.3962634015954636" effort="1e+9" velocity="1e+9"/>
@@ -1110,7 +1110,7 @@
   </link>
   <joint name="l_elbow" type="revolute">
     <origin xyz="0.009999999999996342 -0.0014999999999996405 -0.12369999999999956" rpy="-3.1641356201817088e-15 -3.134298376394895e-14 -7.827072323607395e-15"/>
-    <axis xyz="-6.9388939037918944e-18 -0.9999999999999953 6.4392935428256776e-15"/>
+    <axis xyz="-4.215378046622413e-16 -0.9999999999999953 6.5780714209038095e-15"/>
     <parent link="l_upper_arm"/>
     <child link="l_forearm"/>
     <limit lower="-0.05235987755982989" upper="1.3089969389957472" effort="1e+9" velocity="1e+9"/>
@@ -1143,7 +1143,7 @@
   </link>
   <joint name="l_wrist_yaw" type="revolute">
     <origin xyz="-0.014999999999992455 0.0020000000000007234 -0.1943500000000013" rpy="-2.775557561562897e-16 -7.741723928589295e-14 -5.551115123125795e-17"/>
-    <axis xyz="-3.1939728639684985e-14 2.7755575615628937e-15 -0.9999999999999981"/>
+    <axis xyz="-3.1023794644369224e-14 2.9420910152566676e-15 -0.9999999999999981"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
     <limit lower="-1.6057029118347832" upper="1.6057029118347832" effort="1e+9" velocity="1e+9"/>
@@ -1176,7 +1176,7 @@
   </link>
   <joint name="l_wrist_roll" type="revolute">
     <origin xyz="2.7755575615628914e-17 1.942890293094024e-16 2.7755575615628914e-17" rpy="3.885780586188047e-16 9.71445146547012e-17 -4.440892098500624e-16"/>
-    <axis xyz="-1.0000000000000004 2.6294445787389307e-11 1.0798215793750289e-10"/>
+    <axis xyz="-1.0000000000000004 4.909267437014364e-16 -2.0122792321330943e-16"/>
     <parent link="l_wrist_1"/>
     <child link="l_wrist_2"/>
     <limit lower="-1.0821041362364843" upper="0.9075712110370514" effort="1e+9" velocity="1e+9"/>
@@ -1209,7 +1209,7 @@
   </link>
   <joint name="l_wrist_pitch" type="revolute">
     <origin xyz="-1.214306433183765e-16 -1.6653345369377348e-16 0" rpy="-4.163336342344336e-16 1.0798191507621624e-10 3.330669073875468e-16"/>
-    <axis xyz="-2.6293939251520434e-11 -1.0000000000000002 3.135719461582492e-11"/>
+    <axis xyz="-2.4459601009774425e-16 -1.0000000000000002 -1.3600232051562635e-15"/>
     <parent link="l_wrist_2"/>
     <child link="l_hand_palm"/>
     <limit lower="-0.5585053606381855" upper="0.5585053606381855" effort="1e+9" velocity="1e+9"/>
@@ -1242,7 +1242,7 @@
   </link>
   <joint name="l_index_add" type="revolute">
     <origin xyz="0.022500000000000034 -0.0015000000000006397 -0.06859999999999966" rpy="-8.126657451512497e-16 -0.2967059722446555 1.7414265967526777e-16"/>
-    <axis xyz="1.5978451487065422e-11 1.0000000000000002 -3.767719906891169e-11"/>
+    <axis xyz="1.3005559878087045e-15 1.0000000000000002 -1.953448495705706e-15"/>
     <parent link="l_hand_palm"/>
     <child link="l_hand_index_1"/>
     <limit lower="0" upper="0.2617993877991494" effort="1e+9" velocity="1e+9"/>
@@ -1275,7 +1275,7 @@
   </link>
   <joint name="l_middle_prox" type="revolute">
     <origin xyz="0.00960000000000016 -0.0015000000000005842 -0.10299999999999959" rpy="5.479728916549446e-4 1.4363510381087963e-15 -8.32667268468867e-16"/>
-    <axis xyz="-1.0000000000000004 2.629437917485816e-11 -9.988775473196015e-15"/>
+    <axis xyz="-1.0000000000000004 1.6098145522958664e-16 4.176883423103147e-15"/>
     <parent link="l_hand_palm"/>
     <child link="l_hand_middle_1"/>
     <limit lower="0" upper="1.5707963267948966" effort="1e+9" velocity="1e+9"/>
@@ -1308,7 +1308,7 @@
   </link>
   <joint name="l_pinkie_prox" type="revolute">
     <origin xyz="-0.035982322249527285 -0.0023883158589564635 -0.09206560929209856" rpy="-1.9934591492976922e-5 0.08728175651239228 0.02618761244812705"/>
-    <axis xyz="-0.9999999998538291 7.64480138992604e-6 -1.5293756888704046e-5"/>
+    <axis xyz="-0.9999999998538295 7.644772463726695e-6 -1.529375771042174e-5"/>
     <parent link="l_hand_palm"/>
     <child link="l_hand_pinkie_1"/>
     <limit lower="0" upper="1.5707963267948966" effort="1e+9" velocity="1e+9"/>
@@ -1341,7 +1341,7 @@
   </link>
   <joint name="l_ring_prox" type="revolute">
     <origin xyz="-0.015417755558120038 -0.0018498137284707894 -0.09788067183884419" rpy="-4.001819369804634e-5 0.08726646259973214 0.026179938779914452"/>
-    <axis xyz="-1.0000000000000002 2.8926226625044144e-11 8.259226635942696e-13"/>
+    <axis xyz="-1.0000000000000002 4.364549018964596e-17 3.6637359812630166e-15"/>
     <parent link="l_hand_palm"/>
     <child link="l_hand_ring_1"/>
     <limit lower="0" upper="1.5707963267948966" effort="1e+9" velocity="1e+9"/>
@@ -1374,7 +1374,7 @@
   </link>
   <joint name="l_thumb_add" type="revolute">
     <origin xyz="0.02337486325639077 -0.0030000000000002525 -0.03452383847355461" rpy="-0.04044970061859103 0.22331918636553513 2.9608435412698353"/>
-    <axis xyz="-6.391803752947567e-12 3.590529956687405e-11 -1.0000000000000002"/>
+    <axis xyz="9.71445146547012e-16 1.0269562977782698e-15 -1.0000000000000002"/>
     <parent link="l_hand_palm"/>
     <child link="l_hand_thumb_1"/>
     <limit lower="0" upper="1.7453292519943295" effort="1e+9" velocity="1e+9"/>
@@ -1407,7 +1407,7 @@
   </link>
   <joint name="l_thumb_prox" type="revolute">
     <origin xyz="-0.038093197449591214 -0.0032591938585579128 -0.0036017448035497446" rpy="1.37186358506996 0.1374915276146556 -3.1415926535689005"/>
-    <axis xyz="2.4115921065659407e-11 -3.3017838463322846e-11 -0.9999999999999997"/>
+    <axis xyz="5.134781488891349e-16 3.1363800445660672e-15 -0.9999999999999996"/>
     <parent link="l_hand_thumb_1"/>
     <child link="l_hand_thumb_2"/>
     <limit lower="0" upper="1.5707963267948966" effort="1e+9" velocity="1e+9"/>
@@ -1440,7 +1440,7 @@
   </link>
   <joint name="l_thumb_dist" type="revolute">
     <origin xyz="0.03500000000368915 -0.001499999993667872 1.0741685319004546e-12" rpy="1.8750459518379624e-11 -1.8465340367868066e-11 -1.4806766923669552e-12"/>
-    <axis xyz="5.648245760041583e-12 -5.177168416189185e-11 -0.9999999999999996"/>
+    <axis xyz="-1.846719305254041e-11 -1.8750709318560158e-11 -0.9999999999999996"/>
     <parent link="l_hand_thumb_2"/>
     <child link="l_hand_thumb_3"/>
     <limit lower="0" upper="1.7697638615222502" effort="1e+9" velocity="1e+9"/>
@@ -1473,7 +1473,7 @@
   </link>
   <joint name="l_ring_dist" type="revolute">
     <origin xyz="1.4987329953475292e-11 -0.0015000000002768354 -0.04000000000073728" rpy="-1.2044308636062927e-4 -1.0794291155358238e-10 -2.509104035652854e-13"/>
-    <axis xyz="-1 2.8664399475776237e-11 1.0876850894396261e-10"/>
+    <axis xyz="-1 -2.617159685310911e-13 1.0794249544288393e-10"/>
     <parent link="l_hand_ring_1"/>
     <child link="l_hand_ring_2"/>
     <limit lower="0" upper="1.7994344588061537" effort="1e+9" velocity="1e+9"/>
@@ -1506,7 +1506,7 @@
   </link>
   <joint name="l_pinkie_dist" type="revolute">
     <origin xyz="1.4015903021524778e-11 -0.0014999999962120036 -0.03500000000709719" rpy="-4.438681233740257e-5 -1.0794289073690067e-10 -2.489120021209601e-13"/>
-    <axis xyz="-0.9999999998538307 7.645479968428705e-6 -1.529330960500596e-5"/>
+    <axis xyz="-0.9999999998538309 7.645451042193251e-6 -1.5293310428212298e-5"/>
     <parent link="l_hand_pinkie_1"/>
     <child link="l_hand_pinkie_2"/>
     <limit lower="0" upper="1.7226399717184033" effort="1e+9" velocity="1e+9"/>
@@ -1539,7 +1539,7 @@
   </link>
   <joint name="l_middle_dist" type="revolute">
     <origin xyz="1.5440777129116512e-11 -0.001499999999999363 -0.03999999999896309" rpy="0.017535706363213464 -1.0797945176888035e-10 5.917488721252084e-14"/>
-    <axis xyz="-1 2.824224757752587e-11 1.074840171400902e-10"/>
+    <axis xyz="-1 1.952334931070572e-12 1.0795870667149422e-10"/>
     <parent link="l_hand_middle_1"/>
     <child link="l_hand_middle_2"/>
     <limit lower="0" upper="1.7994344588061537" effort="1e+9" velocity="1e+9"/>
@@ -1572,7 +1572,7 @@
   </link>
   <joint name="l_index_prox" type="revolute">
     <origin xyz="0.009192533346793416 -2.7755575615628914e-17 -0.030713451309624162" rpy="-2.7755575615628914e-16 -7.023611553469422e-10 -7.771561172376094e-16"/>
-    <axis xyz="-0.9781476007113546 2.346155062839741e-11 0.20791169092338443"/>
+    <axis xyz="-1.0000000000000002 2.7755575615627613e-17 7.023654366444809e-10"/>
     <parent link="l_hand_index_1"/>
     <child link="l_hand_index_2"/>
     <limit lower="0" upper="1.5707963267948966" effort="1e+9" velocity="1e+9"/>
@@ -1605,7 +1605,7 @@
   </link>
   <joint name="l_index_dist" type="revolute">
     <origin xyz="-2.7755575615628914e-17 -0.0014999999999999736 -0.039999999999999925" rpy="-7.482326169760975e-8 1.734723475976807e-16 -6.106226635438361e-16"/>
-    <axis xyz="-0.9781476007113552 -1.5533170287064815e-8 0.2079116909233797"/>
+    <axis xyz="-1 -1.804112664227406e-16 9.020562801946248e-17"/>
     <parent link="l_hand_index_2"/>
     <child link="l_hand_index_3"/>
     <limit lower="0" upper="1.7994344588061537" effort="1e+9" velocity="1e+9"/>
@@ -1638,7 +1638,7 @@
   </link>
   <joint name="r_hip_roll" type="revolute">
     <origin xyz="-0.047250000000000625 -0.033099999999999824 -0.009000000000000091" rpy="-2.73316156054826e-16 2.504641391024977e-16 -3.1036377681447894e-15"/>
-    <axis xyz="-1 -3.3813287685014083e-16 -8.532880891569492e-14"/>
+    <axis xyz="-1 -3.3813287685016297e-16 -7.120227705451219e-17"/>
     <parent link="r_hip_1"/>
     <child link="r_hip_2"/>
     <limit lower="-0.2792526803190927" upper="1.9024088846738192" effort="1e+9" velocity="1e+9"/>
@@ -1701,7 +1701,7 @@
   </link>
   <joint name="r_hip_yaw" type="revolute">
     <origin xyz="-2.8622937353617317e-16 0.014999999999999777 -0.07269999999999871" rpy="-3.94514163379533e-15 7.430123072146451e-16 1.2193157749540276e-6"/>
-    <axis xyz="8.528600225431674e-14 1.503215654809462e-15 -1"/>
+    <axis xyz="-2.3953050207433507e-20 1.4749328491810949e-15 -1"/>
     <parent link="r_hip_3"/>
     <child link="r_upper_leg"/>
     <limit lower="-1.3788101090755203" upper="1.3788101090755203" effort="1e+9" velocity="1e+9"/>
@@ -1734,7 +1734,7 @@
   </link>
   <joint name="r_knee" type="revolute">
     <origin xyz="0.01060000963260985 0.007899987075259289 -0.17970000000000058" rpy="6.892643261935339e-14 -6.650159361880639e-14 -1.2193157700904425e-6"/>
-    <axis xyz="1.7937066152151813e-16 -1 3.2454535731621664e-15"/>
+    <axis xyz="1.2193157766326317e-6 -0.9999999999992566 4.719551160658923e-15"/>
     <parent link="r_upper_leg"/>
     <child link="r_lower_leg"/>
     <limit lower="-1.8151424220741028" upper="0.10471975511965978" effort="1e+9" velocity="1e+9"/>
@@ -1767,7 +1767,7 @@
   </link>
   <joint name="r_ankle_pitch" type="revolute">
     <origin xyz="-5.936223734792634e-15 -0.03190000000000005 -0.3210000000000002" rpy="-2.9932805576414174e-15 -2.0242047360524565e-14 8.880636788937802e-17"/>
-    <axis xyz="-1.342621999194175e-15 1 -3.530978817196621e-14"/>
+    <axis xyz="-3.505264366441263e-17 1 -1.331317022347139e-16"/>
     <parent link="r_lower_leg"/>
     <child link="r_ankle_1"/>
     <limit lower="-0.7853981633974483" upper="0.7853981633974483" effort="1e+9" velocity="1e+9"/>
@@ -1800,7 +1800,7 @@
   </link>
   <joint name="r_ankle_roll" type="revolute">
     <origin xyz="-0.052750000000001546 0.018200000000000008 -0.0349999999999977" rpy="-1.0176053241861382e-24 3.8838282931741325e-14 -9.278622199115707e-23"/>
-    <axis xyz="-1 -2.1833586821066654e-16 2.39275322255624e-15"/>
+    <axis xyz="-1 -1.628246671334752e-16 2.560295622560413e-15"/>
     <parent link="r_ankle_1"/>
     <child link="r_ankle_2"/>
     <limit lower="-0.4363323129985824" upper="0.4363323129985824" effort="1e+9" velocity="1e+9"/>
@@ -1887,7 +1887,7 @@
   </link>
   <joint name="l_hip_roll" type="revolute">
     <origin xyz="-0.04725000000000078 0.033100000000000004 -0.009000000000000119" rpy="7.584245024416732e-16 1.5745686587446743e-30 1.1102230246251548e-16"/>
-    <axis xyz="1 -2.277657936511405e-16 5.765028837511023e-16"/>
+    <axis xyz="1 -6.123233995736708e-17 6.3201403498236e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
     <limit lower="-0.2792526803190927" upper="1.9024088846738192" effort="1e+9" velocity="1e+9"/>
@@ -1950,7 +1950,7 @@
   </link>
   <joint name="l_hip_yaw" type="revolute">
     <origin xyz="-8.448103328007051e-16 -0.014999999999999944 -0.07269999999999993" rpy="3.011883887564833e-16 1.143142903721238e-14 -2.2204460492502608e-16"/>
-    <axis xyz="-8.067476499456731e-16 -6.18105884562747e-17 1"/>
+    <axis xyz="-8.622588011769357e-16 1.593666547307703e-16 1"/>
     <parent link="l_hip_3"/>
     <child link="l_upper_leg"/>
     <limit lower="-1.3788101090755203" upper="1.3788101090755203" effort="1e+9" velocity="1e+9"/>
@@ -1983,7 +1983,7 @@
   </link>
   <joint name="l_knee" type="revolute">
     <origin xyz="0.010600000000000822 -0.007900000000000185 -0.17969999999999958" rpy="1.970486418692682e-16 -1.1419428146632273e-14 2.8602839935211434e-15"/>
-    <axis xyz="-4.27427208334911e-16 -1 1.3523805341303425e-16"/>
+    <axis xyz="-2.608937546411318e-16 -1 5.166588955193111e-17"/>
     <parent link="l_upper_leg"/>
     <child link="l_lower_leg"/>
     <limit lower="-1.8151424220741028" upper="0.10471975511965978" effort="1e+9" velocity="1e+9"/>
@@ -2016,7 +2016,7 @@
   </link>
   <joint name="l_ankle_pitch" type="revolute">
     <origin xyz="-4.468647674116255e-15 0.03189999999999981 -0.3209999999999995" rpy="-1.9704864186927032e-16 -8.673617379880112e-19 -1.8683953730959558e-16"/>
-    <axis xyz="-7.24267500143743e-17 1 6.181058845623533e-17"/>
+    <axis xyz="-2.389602037081462e-16 1 1.4538275231733847e-16"/>
     <parent link="l_lower_leg"/>
     <child link="l_ankle_1"/>
     <limit lower="-0.7853981633974483" upper="0.7853981633974483" effort="1e+9" velocity="1e+9"/>
@@ -2049,7 +2049,7 @@
   </link>
   <joint name="l_ankle_roll" type="revolute">
     <origin xyz="-0.052750000000000324 -0.01819999999999991 -0.03499999999999959" rpy="3.340196646750626e-19 1.1217589357404033e-14 -2.3665827156630354e-30"/>
-    <axis xyz="1 -5.715619358951517e-16 -1.2940468202020292e-15"/>
+    <axis xyz="1 -4.05028482201375e-16 -1.2496691978128869e-15"/>
     <parent link="l_ankle_1"/>
     <child link="l_ankle_2"/>
     <limit lower="-0.4363323129985824" upper="0.4363323129985824" effort="1e+9" velocity="1e+9"/>
diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1_1_minContacts/model.urdf b/urdf/ergoCub/robots/ergoCubGazeboV1_1_minContacts/model.urdf
index 4b19ced4..9c22d5ae 100644
--- a/urdf/ergoCub/robots/ergoCubGazeboV1_1_minContacts/model.urdf
+++ b/urdf/ergoCub/robots/ergoCubGazeboV1_1_minContacts/model.urdf
@@ -144,7 +144,7 @@
   </link>
   <joint name="torso_yaw" type="revolute">
     <origin xyz="7.32502235717738e-17 2.561326957877574e-16 0.0644699999999999" rpy="-3.971868545919581e-15 -4.385099568445115e-23 -3.1763738272196853e-22"/>
-    <axis xyz="2.084891490280543e-15 -2.11369334484512e-15 -1"/>
+    <axis xyz="2.084864385226231e-15 -2.114127025714114e-15 -1"/>
     <parent link="torso_2"/>
     <child link="chest"/>
     <limit lower="-0.7504915783575618" upper="0.7504915783575618" effort="1e+9" velocity="1e+9"/>
@@ -204,7 +204,7 @@
   </link>
   <joint name="neck_pitch" type="revolute">
     <origin xyz="0.004861512347971912 4.1253975310307907e-16 0.22529999999999994" rpy="-1.541978321110266e-15 -2.0480667158215426e-15 -1.389802281096855e-15"/>
-    <axis xyz="2.6474328740344387e-18 -1 -7.807082888609213e-16"/>
+    <axis xyz="2.6472211157644926e-18 -1 -7.807858529815144e-16"/>
     <parent link="chest"/>
     <child link="neck_2"/>
     <limit lower="-0.5235987755982988" upper="0.3839724354387525" effort="1e+9" velocity="1e+9"/>
@@ -264,7 +264,7 @@
   </link>
   <joint name="r_shoulder_roll" type="revolute">
     <origin xyz="0.007499999999999977 -0.09330000000000004 -3.885780586188048e-16" rpy="-9.325873406851307e-15 9.520162436160717e-15 -4.718447854656912e-15"/>
-    <axis xyz="-1.0000000000000007 1.0148132334463434e-15 -2.567390744445154e-16"/>
+    <axis xyz="-1.0000000000000007 8.760353553682006e-16 -4.510281037539194e-16"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit lower="-0.2617993877991494" upper="2.6179938779914944" effort="1e+9" velocity="1e+9"/>
@@ -321,7 +321,7 @@
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
     <origin xyz="-7.979727989493313e-17 5.551115123125783e-17 -0.02249999999999998" rpy="-5.55111512312578e-17 -3.0531133177191805e-16 7.660538869913577e-15"/>
-    <axis xyz="3.122502256758238e-16 -2.498001805406602e-16 1.0000000000000004"/>
+    <axis xyz="2.567390744445681e-16 2.775557561562927e-17 1.0000000000000004"/>
     <parent link="r_shoulder_3"/>
     <child link="r_upper_arm"/>
     <limit lower="-0.8726646259971648" upper="1.3962634015954636" effort="1e+9" velocity="1e+9"/>
@@ -354,7 +354,7 @@
   </link>
   <joint name="r_elbow" type="revolute">
     <origin xyz="0.01000000000000002 0.0015000000000005287 -0.12369999999999992" rpy="-4.1633363423443286e-16 -5.842548667089886e-15 -8.326672684688652e-15"/>
-    <axis xyz="4.163336342349831e-17 -1.0000000000000027 2.5673907444456773e-14"/>
+    <axis xyz="3.001071613439684e-16 -1.0000000000000027 1.2712053631958044e-14"/>
     <parent link="r_upper_arm"/>
     <child link="r_forearm"/>
     <limit lower="-0.05235987755982989" upper="1.3089969389957472" effort="1e+9" velocity="1e+9"/>
@@ -384,7 +384,7 @@
   </link>
   <joint name="r_wrist_yaw" type="revolute">
     <origin xyz="-0.014999999999999767 -0.0019999999999965323 -0.1943500000000011" rpy="-2.081668171172164e-15 -1.1587952819525071e-14 -2.997602166487915e-15"/>
-    <axis xyz="6.057654378111005e-15 -5.273559366969643e-16 1.000000000000002"/>
+    <axis xyz="5.5788706987414416e-15 -1.2628786905111175e-14 1.000000000000002"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
     <limit lower="-1.6057029118347832" upper="1.6057029118347832" effort="1e+9" velocity="1e+9"/>
@@ -414,7 +414,7 @@
   </link>
   <joint name="r_wrist_roll" type="revolute">
     <origin xyz="1.4224732503009818e-16 2.498001805406602e-16 1.3877787807814457e-16" rpy="3.8857805861880484e-16 5.551115123125783e-17 -1.6653345369377353e-16"/>
-    <axis xyz="0.9999999999999997 2.6298196259544278e-11 -1.0793549387599907e-10"/>
+    <axis xyz="0.9999999999999997 -2.480654570646835e-16 -1.873501354054953e-16"/>
     <parent link="r_wrist_1"/>
     <child link="r_wrist_2"/>
     <limit lower="-1.0821041362364843" upper="0.9075712110370514" effort="1e+9" velocity="1e+9"/>
@@ -444,7 +444,7 @@
   </link>
   <joint name="r_wrist_pitch" type="revolute">
     <origin xyz="-4.85722573273506e-17 0 2.7755575615628914e-17" rpy="2.2204460492503136e-16 -5.551115123125783e-17 -3.88578058618805e-16"/>
-    <axis xyz="2.6298942190638987e-11 -0.9999999999999998 -3.1325553262462336e-11"/>
+    <axis xyz="4.128641872824801e-16 -0.9999999999999998 -8.049116928532385e-16"/>
     <parent link="r_wrist_2"/>
     <child link="r_hand_palm"/>
     <limit lower="-0.5585053606381855" upper="0.5585053606381855" effort="1e+9" velocity="1e+9"/>
@@ -474,7 +474,7 @@
   </link>
   <joint name="r_index_add" type="revolute">
     <origin xyz="0.022499999999999992 0.0015000000000002234 -0.06859999999999983" rpy="-1.6833790438334957e-15 0.29670597283904 3.141592653589792"/>
-    <axis xyz="1.5990673923572052e-11 -0.9999999999999999 3.764672729074698e-11"/>
+    <axis xyz="-5.389323627044831e-16 -0.9999999999999999 1.6046911875538946e-15"/>
     <parent link="r_hand_palm"/>
     <child link="r_hand_index_1"/>
     <limit lower="0" upper="0.2617993877991494" effort="1e+9" velocity="1e+9"/>
@@ -504,7 +504,7 @@
   </link>
   <joint name="r_middle_prox" type="revolute">
     <origin xyz="0.009599999988882939 0.00150000000000039 -0.1030000000010361" rpy="-1.8596235662471376e-15 -1.0793124727292991e-10 3.1415926535897927"/>
-    <axis xyz="-0.9999999999999996 -2.6303416042483343e-11 -1.6098233857581758e-15"/>
+    <axis xyz="-0.9999999999999996 -4.562322741819007e-15 1.079337105802658e-10"/>
     <parent link="r_hand_palm"/>
     <child link="r_hand_middle_1"/>
     <limit lower="0" upper="1.5707963267948966" effort="1e+9" velocity="1e+9"/>
@@ -534,7 +534,7 @@
   </link>
   <joint name="r_pinkie_prox" type="revolute">
     <origin xyz="-0.035982680943166166 0.002377759579109573 -0.09206828131946371" rpy="4.1095343980510334e-4 -0.08726646259972864 3.1154127148098776"/>
-    <axis xyz="-0.9999999999999998 -2.8722034177571486e-11 -1.0870652988881346e-10"/>
+    <axis xyz="-0.9999999999999998 4.364801434782878e-15 0"/>
     <parent link="r_hand_palm"/>
     <child link="r_hand_pinkie_1"/>
     <limit lower="0" upper="1.5707963267948966" effort="1e+9" velocity="1e+9"/>
@@ -564,7 +564,7 @@
   </link>
   <joint name="r_ring_prox" type="revolute">
     <origin xyz="-0.015417755568684424 0.001849813728471178 -0.09788067183717986" rpy="2.019965811910767e-14 -0.08726646270762471 3.11541271480963"/>
-    <axis xyz="-0.9999999999999999 -2.893157069232462e-11 -8.271022755579338e-13"/>
+    <axis xyz="-0.9999999999999997 -2.498435601042699e-13 1.0789123761067998e-10"/>
     <parent link="r_hand_palm"/>
     <child link="r_hand_ring_1"/>
     <limit lower="0" upper="1.5707963267948966" effort="1e+9" velocity="1e+9"/>
@@ -594,7 +594,7 @@
   </link>
   <joint name="r_thumb_add" type="revolute">
     <origin xyz="0.023374863252664337 0.003000000000000058 -0.03452383847607743" rpy="1.566711369727914e-15 -0.226892802651332 -5.127419028200447e-16"/>
-    <axis xyz="3.219646771412954e-15 -3.6435554830318275e-11 0.9999999999999998"/>
+    <axis xyz="-1.0793213545134961e-10 2.4089270891491094e-15 0.9999999999999998"/>
     <parent link="r_hand_palm"/>
     <child link="r_hand_thumb_1"/>
     <limit lower="0" upper="1.7453292519943295" effort="1e+9" velocity="1e+9"/>
@@ -624,7 +624,7 @@
   </link>
   <joint name="r_thumb_prox" type="revolute">
     <origin xyz="0.0380746544995605 0.003469109580325286 -0.0036017448035497446" rpy="-1.7697290685198344 -0.13749152761469902 -2.965379613992927"/>
-    <axis xyz="2.4122360359202233e-11 -3.299033268788776e-11 -0.9999999999999999"/>
+    <axis xyz="9.992007221626409e-16 -1.1102230246251565e-15 -0.9999999999999997"/>
     <parent link="r_hand_thumb_1"/>
     <child link="r_hand_thumb_2"/>
     <limit lower="0" upper="1.5707963267948966" effort="1e+9" velocity="1e+9"/>
@@ -654,7 +654,7 @@
   </link>
   <joint name="r_thumb_dist" type="revolute">
     <origin xyz="-0.035000000003687984 0.0014999999936707586 -1.0737244426906045e-12" rpy="-1.87424381570267e-11 1.845751329554446e-11 3.1415926535883125"/>
-    <axis xyz="-5.6626925371494566e-12 5.173264594478845e-11 -0.9999999999999999"/>
+    <axis xyz="1.8458673825549887e-11 1.8743298579870785e-11 -0.9999999999999999"/>
     <parent link="r_hand_thumb_2"/>
     <child link="r_hand_thumb_3"/>
     <limit lower="0" upper="1.7697638615222502" effort="1e+9" velocity="1e+9"/>
@@ -684,7 +684,7 @@
   </link>
   <joint name="r_ring_dist" type="revolute">
     <origin xyz="-1.498102770308707e-11 -0.0015000000002765024 -0.040000000000737446" rpy="-5.828670879282074e-16 1.0789557441936992e-10 2.461919557106285e-13"/>
-    <axis xyz="-0.9999999999999999 -2.8681237072836204e-11 -1.0871797212486101e-10"/>
+    <axis xyz="-0.9999999999999999 2.4672971998818127e-13 -1.0789569585001324e-10"/>
     <parent link="r_hand_ring_1"/>
     <child link="r_hand_ring_2"/>
     <limit lower="0" upper="1.7994344588061537" effort="1e+9" velocity="1e+9"/>
@@ -714,7 +714,7 @@
   </link>
   <joint name="r_pinkie_dist" type="revolute">
     <origin xyz="4.5102810375396984e-17 -0.001514193309379297 -0.03499938883211873" rpy="-0.0012956915198213642 -1.8735013540549517e-16 -2.775557561562892e-16"/>
-    <axis xyz="-0.9999999999999999 -2.8584519595543556e-11 -1.0874608649338082e-10"/>
+    <axis xyz="-0.9999999999999999 9.036247971209683e-16 -2.4586692098222613e-15"/>
     <parent link="r_hand_pinkie_1"/>
     <child link="r_hand_pinkie_2"/>
     <limit lower="0" upper="1.7226399717184033" effort="1e+9" velocity="1e+9"/>
@@ -744,7 +744,7 @@
   </link>
   <joint name="r_middle_dist" type="revolute">
     <origin xyz="-1.5434174771566944e-11 -0.0014999999999999736 -0.0399999999989637" rpy="-7.535550930470877e-8 1.0793281546295219e-10 0"/>
-    <axis xyz="-0.9999999999999998 -2.630088161156088e-11 -1.079318529386326e-10"/>
+    <axis xyz="-0.9999999999999998 -2.0695253452753748e-15 -1.0792969296086812e-10"/>
     <parent link="r_hand_middle_1"/>
     <child link="r_hand_middle_2"/>
     <limit lower="0" upper="1.7994344588061537" effort="1e+9" velocity="1e+9"/>
@@ -774,7 +774,7 @@
   </link>
   <joint name="r_index_prox" type="revolute">
     <origin xyz="-0.009192533317427393 5.551115123125783e-17 -0.030713451316238316" rpy="-3.0531133177191805e-16 -2.0816681711721685e-17 0"/>
-    <axis xyz="-0.9781476007113635 -2.3465277303774676e-11 -0.20791169092333764"/>
+    <axis xyz="-0.9999999999999993 3.434752482434078e-15 -1.672273430841644e-15"/>
     <parent link="r_hand_index_1"/>
     <child link="r_hand_index_2"/>
     <limit lower="0" upper="1.5707963267948966" effort="1e+9" velocity="1e+9"/>
@@ -804,7 +804,7 @@
   </link>
   <joint name="r_index_dist" type="revolute">
     <origin xyz="4.163336342344337e-17 -0.0014999999999998903 -0.040000000000000036" rpy="1.942890293094024e-16 3.469446951953614e-17 1.665334536937736e-16"/>
-    <axis xyz="-0.9781476007113639 -2.3469068155297194e-11 -0.2079116909233363"/>
+    <axis xyz="-0.9999999999999993 -2.0122792321330975e-16 -4.510281037539697e-16"/>
     <parent link="r_hand_index_2"/>
     <child link="r_hand_index_3"/>
     <limit lower="0" upper="1.7994344588061537" effort="1e+9" velocity="1e+9"/>
@@ -834,7 +834,7 @@
   </link>
   <joint name="neck_roll" type="revolute">
     <origin xyz="8.673617379884035e-19 6.416192023745373e-17 0.009499999999999786" rpy="-1.7364294099408703e-15 -2.980403162017727e-16 1.580860396783509e-15"/>
-    <axis xyz="1 -1.6832426434147407e-15 -3.770068640066623e-15"/>
+    <axis xyz="1 -1.6820355477448088e-15 -3.806893332301044e-15"/>
     <parent link="neck_2"/>
     <child link="neck_3"/>
     <limit lower="-0.3490658503988659" upper="0.3490658503988659" effort="1e+9" velocity="1e+9"/>
@@ -864,7 +864,7 @@
   </link>
   <joint name="neck_yaw" type="revolute">
     <origin xyz="-1.43982048506075e-16 -4.1419339784385294e-17 0.06914999999999999" rpy="1.2720090288173385e-15 -3.1687776687987536e-15 3.715432083235576e-16"/>
-    <axis xyz="3.4240774521066226e-15 -2.686540855695209e-16 0.9999999999999998"/>
+    <axis xyz="3.1628618281392715e-15 1.6479574685948862e-15 0.9999999999999998"/>
     <parent link="neck_3"/>
     <child link="head"/>
     <limit lower="-0.7853981633974483" upper="0.7853981633974483" effort="1e+9" velocity="1e+9"/>
@@ -894,7 +894,7 @@
   </link>
   <joint name="camera_tilt" type="revolute">
     <origin xyz="0.06250999999999993 -3.0000000001105853e-5 0.07639250000000064" rpy="9.166950960511526e-15 2.595819949100105e-4 1.9343583275079285e-15"/>
-    <axis xyz="-3.611636085008543e-15 -1 -1.9429477071513935e-15"/>
+    <axis xyz="-3.1332662159460226e-17 -1 -1.3036401662462866e-15"/>
     <parent link="head"/>
     <child link="realsense"/>
     <limit lower="-0.5235987755982988" upper="0.5235987755982988" effort="1e+9" velocity="1e+9"/>
@@ -924,7 +924,7 @@
   </link>
   <joint name="l_shoulder_roll" type="revolute">
     <origin xyz="0.005000000000000011 0.09329999999999987 -3.0531133177191805e-16" rpy="2.6895152771544417e-14 1.790234627208065e-15 -2.3314683517128287e-15"/>
-    <axis xyz="1 7.615436059538576e-16 3.2196467714129958e-15"/>
+    <axis xyz="1 4.891920202255013e-16 3.3029134982598896e-15"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit lower="-0.2617993877991494" upper="2.6179938779914944" effort="1e+9" velocity="1e+9"/>
@@ -981,7 +981,7 @@
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
     <origin xyz="4.163336342344337e-17 -5.551115123125783e-17 -0.022499999999999937" rpy="-3.3029134982598486e-15 -3.002459392220658e-14 6.383782391594671e-15"/>
-    <axis xyz="-2.982336599899327e-14 3.2196467714129528e-15 -0.9999999999999977"/>
+    <axis xyz="-3.0080105073437835e-14 3.191891195797326e-15 -0.9999999999999977"/>
     <parent link="l_shoulder_3"/>
     <child link="l_upper_arm"/>
     <limit lower="-0.8726646259971648" upper="1.3962634015954636" effort="1e+9" velocity="1e+9"/>
@@ -1014,7 +1014,7 @@
   </link>
   <joint name="l_elbow" type="revolute">
     <origin xyz="0.009999999999996342 -0.0014999999999996405 -0.12369999999999956" rpy="-3.1641356201817088e-15 -3.134298376394895e-14 -7.827072323607395e-15"/>
-    <axis xyz="-6.9388939037918944e-18 -0.9999999999999953 6.4392935428256776e-15"/>
+    <axis xyz="-4.215378046622413e-16 -0.9999999999999953 6.5780714209038095e-15"/>
     <parent link="l_upper_arm"/>
     <child link="l_forearm"/>
     <limit lower="-0.05235987755982989" upper="1.3089969389957472" effort="1e+9" velocity="1e+9"/>
@@ -1044,7 +1044,7 @@
   </link>
   <joint name="l_wrist_yaw" type="revolute">
     <origin xyz="-0.014999999999992455 0.0020000000000007234 -0.1943500000000013" rpy="-2.775557561562897e-16 -7.741723928589295e-14 -5.551115123125795e-17"/>
-    <axis xyz="-3.1939728639684985e-14 2.7755575615628937e-15 -0.9999999999999981"/>
+    <axis xyz="-3.1023794644369224e-14 2.9420910152566676e-15 -0.9999999999999981"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
     <limit lower="-1.6057029118347832" upper="1.6057029118347832" effort="1e+9" velocity="1e+9"/>
@@ -1074,7 +1074,7 @@
   </link>
   <joint name="l_wrist_roll" type="revolute">
     <origin xyz="2.7755575615628914e-17 1.942890293094024e-16 2.7755575615628914e-17" rpy="3.885780586188047e-16 9.71445146547012e-17 -4.440892098500624e-16"/>
-    <axis xyz="-1.0000000000000004 2.6294445787389307e-11 1.0798215793750289e-10"/>
+    <axis xyz="-1.0000000000000004 4.909267437014364e-16 -2.0122792321330943e-16"/>
     <parent link="l_wrist_1"/>
     <child link="l_wrist_2"/>
     <limit lower="-1.0821041362364843" upper="0.9075712110370514" effort="1e+9" velocity="1e+9"/>
@@ -1104,7 +1104,7 @@
   </link>
   <joint name="l_wrist_pitch" type="revolute">
     <origin xyz="-1.214306433183765e-16 -1.6653345369377348e-16 0" rpy="-4.163336342344336e-16 1.0798191507621624e-10 3.330669073875468e-16"/>
-    <axis xyz="-2.6293939251520434e-11 -1.0000000000000002 3.135719461582492e-11"/>
+    <axis xyz="-2.4459601009774425e-16 -1.0000000000000002 -1.3600232051562635e-15"/>
     <parent link="l_wrist_2"/>
     <child link="l_hand_palm"/>
     <limit lower="-0.5585053606381855" upper="0.5585053606381855" effort="1e+9" velocity="1e+9"/>
@@ -1134,7 +1134,7 @@
   </link>
   <joint name="l_index_add" type="revolute">
     <origin xyz="0.022500000000000034 -0.0015000000000006397 -0.06859999999999966" rpy="-8.126657451512497e-16 -0.2967059722446555 1.7414265967526777e-16"/>
-    <axis xyz="1.5978451487065422e-11 1.0000000000000002 -3.767719906891169e-11"/>
+    <axis xyz="1.3005559878087045e-15 1.0000000000000002 -1.953448495705706e-15"/>
     <parent link="l_hand_palm"/>
     <child link="l_hand_index_1"/>
     <limit lower="0" upper="0.2617993877991494" effort="1e+9" velocity="1e+9"/>
@@ -1164,7 +1164,7 @@
   </link>
   <joint name="l_middle_prox" type="revolute">
     <origin xyz="0.00960000000000016 -0.0015000000000005842 -0.10299999999999959" rpy="5.479728916549446e-4 1.4363510381087963e-15 -8.32667268468867e-16"/>
-    <axis xyz="-1.0000000000000004 2.629437917485816e-11 -9.988775473196015e-15"/>
+    <axis xyz="-1.0000000000000004 1.6098145522958664e-16 4.176883423103147e-15"/>
     <parent link="l_hand_palm"/>
     <child link="l_hand_middle_1"/>
     <limit lower="0" upper="1.5707963267948966" effort="1e+9" velocity="1e+9"/>
@@ -1194,7 +1194,7 @@
   </link>
   <joint name="l_pinkie_prox" type="revolute">
     <origin xyz="-0.035982322249527285 -0.0023883158589564635 -0.09206560929209856" rpy="-1.9934591492976922e-5 0.08728175651239228 0.02618761244812705"/>
-    <axis xyz="-0.9999999998538291 7.64480138992604e-6 -1.5293756888704046e-5"/>
+    <axis xyz="-0.9999999998538295 7.644772463726695e-6 -1.529375771042174e-5"/>
     <parent link="l_hand_palm"/>
     <child link="l_hand_pinkie_1"/>
     <limit lower="0" upper="1.5707963267948966" effort="1e+9" velocity="1e+9"/>
@@ -1224,7 +1224,7 @@
   </link>
   <joint name="l_ring_prox" type="revolute">
     <origin xyz="-0.015417755558120038 -0.0018498137284707894 -0.09788067183884419" rpy="-4.001819369804634e-5 0.08726646259973214 0.026179938779914452"/>
-    <axis xyz="-1.0000000000000002 2.8926226625044144e-11 8.259226635942696e-13"/>
+    <axis xyz="-1.0000000000000002 4.364549018964596e-17 3.6637359812630166e-15"/>
     <parent link="l_hand_palm"/>
     <child link="l_hand_ring_1"/>
     <limit lower="0" upper="1.5707963267948966" effort="1e+9" velocity="1e+9"/>
@@ -1254,7 +1254,7 @@
   </link>
   <joint name="l_thumb_add" type="revolute">
     <origin xyz="0.02337486325639077 -0.0030000000000002525 -0.03452383847355461" rpy="-0.04044970061859103 0.22331918636553513 2.9608435412698353"/>
-    <axis xyz="-6.391803752947567e-12 3.590529956687405e-11 -1.0000000000000002"/>
+    <axis xyz="9.71445146547012e-16 1.0269562977782698e-15 -1.0000000000000002"/>
     <parent link="l_hand_palm"/>
     <child link="l_hand_thumb_1"/>
     <limit lower="0" upper="1.7453292519943295" effort="1e+9" velocity="1e+9"/>
@@ -1284,7 +1284,7 @@
   </link>
   <joint name="l_thumb_prox" type="revolute">
     <origin xyz="-0.038093197449591214 -0.0032591938585579128 -0.0036017448035497446" rpy="1.37186358506996 0.1374915276146556 -3.1415926535689005"/>
-    <axis xyz="2.4115921065659407e-11 -3.3017838463322846e-11 -0.9999999999999997"/>
+    <axis xyz="5.134781488891349e-16 3.1363800445660672e-15 -0.9999999999999996"/>
     <parent link="l_hand_thumb_1"/>
     <child link="l_hand_thumb_2"/>
     <limit lower="0" upper="1.5707963267948966" effort="1e+9" velocity="1e+9"/>
@@ -1314,7 +1314,7 @@
   </link>
   <joint name="l_thumb_dist" type="revolute">
     <origin xyz="0.03500000000368915 -0.001499999993667872 1.0741685319004546e-12" rpy="1.8750459518379624e-11 -1.8465340367868066e-11 -1.4806766923669552e-12"/>
-    <axis xyz="5.648245760041583e-12 -5.177168416189185e-11 -0.9999999999999996"/>
+    <axis xyz="-1.846719305254041e-11 -1.8750709318560158e-11 -0.9999999999999996"/>
     <parent link="l_hand_thumb_2"/>
     <child link="l_hand_thumb_3"/>
     <limit lower="0" upper="1.7697638615222502" effort="1e+9" velocity="1e+9"/>
@@ -1344,7 +1344,7 @@
   </link>
   <joint name="l_ring_dist" type="revolute">
     <origin xyz="1.4987329953475292e-11 -0.0015000000002768354 -0.04000000000073728" rpy="-1.2044308636062927e-4 -1.0794291155358238e-10 -2.509104035652854e-13"/>
-    <axis xyz="-1 2.8664399475776237e-11 1.0876850894396261e-10"/>
+    <axis xyz="-1 -2.617159685310911e-13 1.0794249544288393e-10"/>
     <parent link="l_hand_ring_1"/>
     <child link="l_hand_ring_2"/>
     <limit lower="0" upper="1.7994344588061537" effort="1e+9" velocity="1e+9"/>
@@ -1374,7 +1374,7 @@
   </link>
   <joint name="l_pinkie_dist" type="revolute">
     <origin xyz="1.4015903021524778e-11 -0.0014999999962120036 -0.03500000000709719" rpy="-4.438681233740257e-5 -1.0794289073690067e-10 -2.489120021209601e-13"/>
-    <axis xyz="-0.9999999998538307 7.645479968428705e-6 -1.529330960500596e-5"/>
+    <axis xyz="-0.9999999998538309 7.645451042193251e-6 -1.5293310428212298e-5"/>
     <parent link="l_hand_pinkie_1"/>
     <child link="l_hand_pinkie_2"/>
     <limit lower="0" upper="1.7226399717184033" effort="1e+9" velocity="1e+9"/>
@@ -1404,7 +1404,7 @@
   </link>
   <joint name="l_middle_dist" type="revolute">
     <origin xyz="1.5440777129116512e-11 -0.001499999999999363 -0.03999999999896309" rpy="0.017535706363213464 -1.0797945176888035e-10 5.917488721252084e-14"/>
-    <axis xyz="-1 2.824224757752587e-11 1.074840171400902e-10"/>
+    <axis xyz="-1 1.952334931070572e-12 1.0795870667149422e-10"/>
     <parent link="l_hand_middle_1"/>
     <child link="l_hand_middle_2"/>
     <limit lower="0" upper="1.7994344588061537" effort="1e+9" velocity="1e+9"/>
@@ -1434,7 +1434,7 @@
   </link>
   <joint name="l_index_prox" type="revolute">
     <origin xyz="0.009192533346793416 -2.7755575615628914e-17 -0.030713451309624162" rpy="-2.7755575615628914e-16 -7.023611553469422e-10 -7.771561172376094e-16"/>
-    <axis xyz="-0.9781476007113546 2.346155062839741e-11 0.20791169092338443"/>
+    <axis xyz="-1.0000000000000002 2.7755575615627613e-17 7.023654366444809e-10"/>
     <parent link="l_hand_index_1"/>
     <child link="l_hand_index_2"/>
     <limit lower="0" upper="1.5707963267948966" effort="1e+9" velocity="1e+9"/>
@@ -1464,7 +1464,7 @@
   </link>
   <joint name="l_index_dist" type="revolute">
     <origin xyz="-2.7755575615628914e-17 -0.0014999999999999736 -0.039999999999999925" rpy="-7.482326169760975e-8 1.734723475976807e-16 -6.106226635438361e-16"/>
-    <axis xyz="-0.9781476007113552 -1.5533170287064815e-8 0.2079116909233797"/>
+    <axis xyz="-1 -1.804112664227406e-16 9.020562801946248e-17"/>
     <parent link="l_hand_index_2"/>
     <child link="l_hand_index_3"/>
     <limit lower="0" upper="1.7994344588061537" effort="1e+9" velocity="1e+9"/>
@@ -1494,7 +1494,7 @@
   </link>
   <joint name="r_hip_roll" type="revolute">
     <origin xyz="-0.047250000000000625 -0.033099999999999824 -0.009000000000000091" rpy="-2.73316156054826e-16 2.504641391024977e-16 -3.1036377681447894e-15"/>
-    <axis xyz="-1 -3.3813287685014083e-16 -8.532880891569492e-14"/>
+    <axis xyz="-1 -3.3813287685016297e-16 -7.120227705451219e-17"/>
     <parent link="r_hip_1"/>
     <child link="r_hip_2"/>
     <limit lower="-0.2792526803190927" upper="1.9024088846738192" effort="1e+9" velocity="1e+9"/>
@@ -1551,7 +1551,7 @@
   </link>
   <joint name="r_hip_yaw" type="revolute">
     <origin xyz="-2.8622937353617317e-16 0.014999999999999777 -0.07269999999999871" rpy="-3.94514163379533e-15 7.430123072146451e-16 1.2193157749540276e-6"/>
-    <axis xyz="8.528600225431674e-14 1.503215654809462e-15 -1"/>
+    <axis xyz="-2.3953050207433507e-20 1.4749328491810949e-15 -1"/>
     <parent link="r_hip_3"/>
     <child link="r_upper_leg"/>
     <limit lower="-1.3788101090755203" upper="1.3788101090755203" effort="1e+9" velocity="1e+9"/>
@@ -1581,7 +1581,7 @@
   </link>
   <joint name="r_knee" type="revolute">
     <origin xyz="0.01060000963260985 0.007899987075259289 -0.17970000000000058" rpy="6.892643261935339e-14 -6.650159361880639e-14 -1.2193157700904425e-6"/>
-    <axis xyz="1.7937066152151813e-16 -1 3.2454535731621664e-15"/>
+    <axis xyz="1.2193157766326317e-6 -0.9999999999992566 4.719551160658923e-15"/>
     <parent link="r_upper_leg"/>
     <child link="r_lower_leg"/>
     <limit lower="-1.8151424220741028" upper="0.10471975511965978" effort="1e+9" velocity="1e+9"/>
@@ -1611,7 +1611,7 @@
   </link>
   <joint name="r_ankle_pitch" type="revolute">
     <origin xyz="-5.936223734792634e-15 -0.03190000000000005 -0.3210000000000002" rpy="-2.9932805576414174e-15 -2.0242047360524565e-14 8.880636788937802e-17"/>
-    <axis xyz="-1.342621999194175e-15 1 -3.530978817196621e-14"/>
+    <axis xyz="-3.505264366441263e-17 1 -1.331317022347139e-16"/>
     <parent link="r_lower_leg"/>
     <child link="r_ankle_1"/>
     <limit lower="-0.7853981633974483" upper="0.7853981633974483" effort="1e+9" velocity="1e+9"/>
@@ -1641,7 +1641,7 @@
   </link>
   <joint name="r_ankle_roll" type="revolute">
     <origin xyz="-0.052750000000001546 0.018200000000000008 -0.0349999999999977" rpy="-1.0176053241861382e-24 3.8838282931741325e-14 -9.278622199115707e-23"/>
-    <axis xyz="-1 -2.1833586821066654e-16 2.39275322255624e-15"/>
+    <axis xyz="-1 -1.628246671334752e-16 2.560295622560413e-15"/>
     <parent link="r_ankle_1"/>
     <child link="r_ankle_2"/>
     <limit lower="-0.4363323129985824" upper="0.4363323129985824" effort="1e+9" velocity="1e+9"/>
@@ -1725,7 +1725,7 @@
   </link>
   <joint name="l_hip_roll" type="revolute">
     <origin xyz="-0.04725000000000078 0.033100000000000004 -0.009000000000000119" rpy="7.584245024416732e-16 1.5745686587446743e-30 1.1102230246251548e-16"/>
-    <axis xyz="1 -2.277657936511405e-16 5.765028837511023e-16"/>
+    <axis xyz="1 -6.123233995736708e-17 6.3201403498236e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
     <limit lower="-0.2792526803190927" upper="1.9024088846738192" effort="1e+9" velocity="1e+9"/>
@@ -1782,7 +1782,7 @@
   </link>
   <joint name="l_hip_yaw" type="revolute">
     <origin xyz="-8.448103328007051e-16 -0.014999999999999944 -0.07269999999999993" rpy="3.011883887564833e-16 1.143142903721238e-14 -2.2204460492502608e-16"/>
-    <axis xyz="-8.067476499456731e-16 -6.18105884562747e-17 1"/>
+    <axis xyz="-8.622588011769357e-16 1.593666547307703e-16 1"/>
     <parent link="l_hip_3"/>
     <child link="l_upper_leg"/>
     <limit lower="-1.3788101090755203" upper="1.3788101090755203" effort="1e+9" velocity="1e+9"/>
@@ -1812,7 +1812,7 @@
   </link>
   <joint name="l_knee" type="revolute">
     <origin xyz="0.010600000000000822 -0.007900000000000185 -0.17969999999999958" rpy="1.970486418692682e-16 -1.1419428146632273e-14 2.8602839935211434e-15"/>
-    <axis xyz="-4.27427208334911e-16 -1 1.3523805341303425e-16"/>
+    <axis xyz="-2.608937546411318e-16 -1 5.166588955193111e-17"/>
     <parent link="l_upper_leg"/>
     <child link="l_lower_leg"/>
     <limit lower="-1.8151424220741028" upper="0.10471975511965978" effort="1e+9" velocity="1e+9"/>
@@ -1842,7 +1842,7 @@
   </link>
   <joint name="l_ankle_pitch" type="revolute">
     <origin xyz="-4.468647674116255e-15 0.03189999999999981 -0.3209999999999995" rpy="-1.9704864186927032e-16 -8.673617379880112e-19 -1.8683953730959558e-16"/>
-    <axis xyz="-7.24267500143743e-17 1 6.181058845623533e-17"/>
+    <axis xyz="-2.389602037081462e-16 1 1.4538275231733847e-16"/>
     <parent link="l_lower_leg"/>
     <child link="l_ankle_1"/>
     <limit lower="-0.7853981633974483" upper="0.7853981633974483" effort="1e+9" velocity="1e+9"/>
@@ -1872,7 +1872,7 @@
   </link>
   <joint name="l_ankle_roll" type="revolute">
     <origin xyz="-0.052750000000000324 -0.01819999999999991 -0.03499999999999959" rpy="3.340196646750626e-19 1.1217589357404033e-14 -2.3665827156630354e-30"/>
-    <axis xyz="1 -5.715619358951517e-16 -1.2940468202020292e-15"/>
+    <axis xyz="1 -4.05028482201375e-16 -1.2496691978128869e-15"/>
     <parent link="l_ankle_1"/>
     <child link="l_ankle_2"/>
     <limit lower="-0.4363323129985824" upper="0.4363323129985824" effort="1e+9" velocity="1e+9"/>
diff --git a/urdf/ergoCub/robots/ergoCubSN001/model.urdf b/urdf/ergoCub/robots/ergoCubSN001/model.urdf
index bf228e7b..c165fec4 100644
--- a/urdf/ergoCub/robots/ergoCubSN001/model.urdf
+++ b/urdf/ergoCub/robots/ergoCubSN001/model.urdf
@@ -159,7 +159,7 @@
   </link>
   <joint name="torso_yaw" type="revolute">
     <origin xyz="7.32502235717738e-17 2.561326957877574e-16 0.0644699999999999" rpy="-3.971868545919581e-15 -4.385099568445115e-23 -3.1763738272196853e-22"/>
-    <axis xyz="2.084891490280543e-15 -2.11369334484512e-15 -1"/>
+    <axis xyz="2.084864385226231e-15 -2.114127025714114e-15 -1"/>
     <parent link="torso_2"/>
     <child link="chest"/>
     <limit lower="-0.7504915783575618" upper="0.7504915783575618" effort="1e+9" velocity="1e+9"/>
@@ -225,7 +225,7 @@
   </link>
   <joint name="neck_pitch" type="revolute">
     <origin xyz="0.004861512347971912 4.1253975310307907e-16 0.22529999999999994" rpy="-1.541978321110266e-15 -2.0480667158215426e-15 -1.389802281096855e-15"/>
-    <axis xyz="2.6474328740344387e-18 -1 -7.807082888609213e-16"/>
+    <axis xyz="2.6472211157644926e-18 -1 -7.807858529815144e-16"/>
     <parent link="chest"/>
     <child link="neck_2"/>
     <limit lower="-0.5235987755982988" upper="0.3839724354387525" effort="1e+9" velocity="1e+9"/>
@@ -291,7 +291,7 @@
   </link>
   <joint name="r_shoulder_roll" type="revolute">
     <origin xyz="0.007499999999999977 -0.09330000000000004 -3.885780586188048e-16" rpy="-9.325873406851307e-15 9.520162436160717e-15 -4.718447854656912e-15"/>
-    <axis xyz="-1.0000000000000007 1.0148132334463434e-15 -2.567390744445154e-16"/>
+    <axis xyz="-1.0000000000000007 8.760353553682006e-16 -4.510281037539194e-16"/>
     <parent link="r_shoulder_1"/>
     <child link="r_shoulder_2"/>
     <limit lower="-0.2617993877991494" upper="2.6179938779914944" effort="1e+9" velocity="1e+9"/>
@@ -354,7 +354,7 @@
   </link>
   <joint name="r_shoulder_yaw" type="revolute">
     <origin xyz="-7.979727989493313e-17 5.551115123125783e-17 -0.02249999999999998" rpy="-5.55111512312578e-17 -3.0531133177191805e-16 7.660538869913577e-15"/>
-    <axis xyz="3.122502256758238e-16 -2.498001805406602e-16 1.0000000000000004"/>
+    <axis xyz="2.567390744445681e-16 2.775557561562927e-17 1.0000000000000004"/>
     <parent link="r_shoulder_3"/>
     <child link="r_upper_arm"/>
     <limit lower="-0.8726646259971648" upper="1.3962634015954636" effort="1e+9" velocity="1e+9"/>
@@ -387,7 +387,7 @@
   </link>
   <joint name="r_elbow" type="revolute">
     <origin xyz="0.01000000000000002 0.0015000000000005287 -0.12369999999999992" rpy="-4.1633363423443286e-16 -5.842548667089886e-15 -8.326672684688652e-15"/>
-    <axis xyz="4.163336342349831e-17 -1.0000000000000027 2.5673907444456773e-14"/>
+    <axis xyz="3.001071613439684e-16 -1.0000000000000027 1.2712053631958044e-14"/>
     <parent link="r_upper_arm"/>
     <child link="r_forearm"/>
     <limit lower="-0.05235987755982989" upper="1.3089969389957472" effort="1e+9" velocity="1e+9"/>
@@ -420,7 +420,7 @@
   </link>
   <joint name="r_wrist_yaw" type="revolute">
     <origin xyz="-0.014999999999999767 -0.0019999999999965323 -0.1943500000000011" rpy="-2.081668171172164e-15 -1.1587952819525071e-14 -2.997602166487915e-15"/>
-    <axis xyz="6.057654378111005e-15 -5.273559366969643e-16 1.000000000000002"/>
+    <axis xyz="5.5788706987414416e-15 -1.2628786905111175e-14 1.000000000000002"/>
     <parent link="r_forearm"/>
     <child link="r_wrist_1"/>
     <limit lower="-1.6057029118347832" upper="1.6057029118347832" effort="1e+9" velocity="1e+9"/>
@@ -453,7 +453,7 @@
   </link>
   <joint name="r_wrist_roll" type="revolute">
     <origin xyz="1.4224732503009818e-16 2.498001805406602e-16 1.3877787807814457e-16" rpy="3.8857805861880484e-16 5.551115123125783e-17 -1.6653345369377353e-16"/>
-    <axis xyz="0.9999999999999997 2.6298196259544278e-11 -1.0793549387599907e-10"/>
+    <axis xyz="0.9999999999999997 -2.480654570646835e-16 -1.873501354054953e-16"/>
     <parent link="r_wrist_1"/>
     <child link="r_wrist_2"/>
     <limit lower="-1.0821041362364843" upper="0.9075712110370514" effort="1e+9" velocity="1e+9"/>
@@ -486,7 +486,7 @@
   </link>
   <joint name="r_wrist_pitch" type="revolute">
     <origin xyz="-4.85722573273506e-17 0 2.7755575615628914e-17" rpy="2.2204460492503136e-16 -5.551115123125783e-17 -3.88578058618805e-16"/>
-    <axis xyz="2.6298942190638987e-11 -0.9999999999999998 -3.1325553262462336e-11"/>
+    <axis xyz="4.128641872824801e-16 -0.9999999999999998 -8.049116928532385e-16"/>
     <parent link="r_wrist_2"/>
     <child link="r_hand_palm"/>
     <limit lower="-0.5585053606381855" upper="0.5585053606381855" effort="1e+9" velocity="1e+9"/>
@@ -519,7 +519,7 @@
   </link>
   <joint name="r_index_add" type="revolute">
     <origin xyz="0.022499999999999992 0.0015000000000002234 -0.06859999999999983" rpy="-1.6833790438334957e-15 0.29670597283904 3.141592653589792"/>
-    <axis xyz="1.5990673923572052e-11 -0.9999999999999999 3.764672729074698e-11"/>
+    <axis xyz="-5.389323627044831e-16 -0.9999999999999999 1.6046911875538946e-15"/>
     <parent link="r_hand_palm"/>
     <child link="r_hand_index_1"/>
     <limit lower="0" upper="0.2617993877991494" effort="1e+9" velocity="1e+9"/>
@@ -552,7 +552,7 @@
   </link>
   <joint name="r_middle_prox" type="revolute">
     <origin xyz="0.009599999988882939 0.00150000000000039 -0.1030000000010361" rpy="-1.8596235662471376e-15 -1.0793124727292991e-10 3.1415926535897927"/>
-    <axis xyz="-0.9999999999999996 -2.6303416042483343e-11 -1.6098233857581758e-15"/>
+    <axis xyz="-0.9999999999999996 -4.562322741819007e-15 1.079337105802658e-10"/>
     <parent link="r_hand_palm"/>
     <child link="r_hand_middle_1"/>
     <limit lower="0" upper="1.5707963267948966" effort="1e+9" velocity="1e+9"/>
@@ -585,7 +585,7 @@
   </link>
   <joint name="r_pinkie_prox" type="revolute">
     <origin xyz="-0.035982680943166166 0.002377759579109573 -0.09206828131946371" rpy="4.1095343980510334e-4 -0.08726646259972864 3.1154127148098776"/>
-    <axis xyz="-0.9999999999999998 -2.8722034177571486e-11 -1.0870652988881346e-10"/>
+    <axis xyz="-0.9999999999999998 4.364801434782878e-15 0"/>
     <parent link="r_hand_palm"/>
     <child link="r_hand_pinkie_1"/>
     <limit lower="0" upper="1.5707963267948966" effort="1e+9" velocity="1e+9"/>
@@ -618,7 +618,7 @@
   </link>
   <joint name="r_ring_prox" type="revolute">
     <origin xyz="-0.015417755568684424 0.001849813728471178 -0.09788067183717986" rpy="2.019965811910767e-14 -0.08726646270762471 3.11541271480963"/>
-    <axis xyz="-0.9999999999999999 -2.893157069232462e-11 -8.271022755579338e-13"/>
+    <axis xyz="-0.9999999999999997 -2.498435601042699e-13 1.0789123761067998e-10"/>
     <parent link="r_hand_palm"/>
     <child link="r_hand_ring_1"/>
     <limit lower="0" upper="1.5707963267948966" effort="1e+9" velocity="1e+9"/>
@@ -651,7 +651,7 @@
   </link>
   <joint name="r_thumb_add" type="revolute">
     <origin xyz="0.023374863252664337 0.003000000000000058 -0.03452383847607743" rpy="1.566711369727914e-15 -0.226892802651332 -5.127419028200447e-16"/>
-    <axis xyz="3.219646771412954e-15 -3.6435554830318275e-11 0.9999999999999998"/>
+    <axis xyz="-1.0793213545134961e-10 2.4089270891491094e-15 0.9999999999999998"/>
     <parent link="r_hand_palm"/>
     <child link="r_hand_thumb_1"/>
     <limit lower="0" upper="1.7453292519943295" effort="1e+9" velocity="1e+9"/>
@@ -684,7 +684,7 @@
   </link>
   <joint name="r_thumb_prox" type="revolute">
     <origin xyz="0.0380746544995605 0.003469109580325286 -0.0036017448035497446" rpy="-1.7697290685198344 -0.13749152761469902 -2.965379613992927"/>
-    <axis xyz="2.4122360359202233e-11 -3.299033268788776e-11 -0.9999999999999999"/>
+    <axis xyz="9.992007221626409e-16 -1.1102230246251565e-15 -0.9999999999999997"/>
     <parent link="r_hand_thumb_1"/>
     <child link="r_hand_thumb_2"/>
     <limit lower="0" upper="1.5707963267948966" effort="1e+9" velocity="1e+9"/>
@@ -717,7 +717,7 @@
   </link>
   <joint name="r_thumb_dist" type="revolute">
     <origin xyz="-0.035000000003687984 0.0014999999936707586 -1.0737244426906045e-12" rpy="-1.87424381570267e-11 1.845751329554446e-11 3.1415926535883125"/>
-    <axis xyz="-5.6626925371494566e-12 5.173264594478845e-11 -0.9999999999999999"/>
+    <axis xyz="1.8458673825549887e-11 1.8743298579870785e-11 -0.9999999999999999"/>
     <parent link="r_hand_thumb_2"/>
     <child link="r_hand_thumb_3"/>
     <limit lower="0" upper="1.7697638615222502" effort="1e+9" velocity="1e+9"/>
@@ -750,7 +750,7 @@
   </link>
   <joint name="r_ring_dist" type="revolute">
     <origin xyz="-1.498102770308707e-11 -0.0015000000002765024 -0.040000000000737446" rpy="-5.828670879282074e-16 1.0789557441936992e-10 2.461919557106285e-13"/>
-    <axis xyz="-0.9999999999999999 -2.8681237072836204e-11 -1.0871797212486101e-10"/>
+    <axis xyz="-0.9999999999999999 2.4672971998818127e-13 -1.0789569585001324e-10"/>
     <parent link="r_hand_ring_1"/>
     <child link="r_hand_ring_2"/>
     <limit lower="0" upper="1.7994344588061537" effort="1e+9" velocity="1e+9"/>
@@ -783,7 +783,7 @@
   </link>
   <joint name="r_pinkie_dist" type="revolute">
     <origin xyz="4.5102810375396984e-17 -0.001514193309379297 -0.03499938883211873" rpy="-0.0012956915198213642 -1.8735013540549517e-16 -2.775557561562892e-16"/>
-    <axis xyz="-0.9999999999999999 -2.8584519595543556e-11 -1.0874608649338082e-10"/>
+    <axis xyz="-0.9999999999999999 9.036247971209683e-16 -2.4586692098222613e-15"/>
     <parent link="r_hand_pinkie_1"/>
     <child link="r_hand_pinkie_2"/>
     <limit lower="0" upper="1.7226399717184033" effort="1e+9" velocity="1e+9"/>
@@ -816,7 +816,7 @@
   </link>
   <joint name="r_middle_dist" type="revolute">
     <origin xyz="-1.5434174771566944e-11 -0.0014999999999999736 -0.0399999999989637" rpy="-7.535550930470877e-8 1.0793281546295219e-10 0"/>
-    <axis xyz="-0.9999999999999998 -2.630088161156088e-11 -1.079318529386326e-10"/>
+    <axis xyz="-0.9999999999999998 -2.0695253452753748e-15 -1.0792969296086812e-10"/>
     <parent link="r_hand_middle_1"/>
     <child link="r_hand_middle_2"/>
     <limit lower="0" upper="1.7994344588061537" effort="1e+9" velocity="1e+9"/>
@@ -849,7 +849,7 @@
   </link>
   <joint name="r_index_prox" type="revolute">
     <origin xyz="-0.009192533317427393 5.551115123125783e-17 -0.030713451316238316" rpy="-3.0531133177191805e-16 -2.0816681711721685e-17 0"/>
-    <axis xyz="-0.9781476007113635 -2.3465277303774676e-11 -0.20791169092333764"/>
+    <axis xyz="-0.9999999999999993 3.434752482434078e-15 -1.672273430841644e-15"/>
     <parent link="r_hand_index_1"/>
     <child link="r_hand_index_2"/>
     <limit lower="0" upper="1.5707963267948966" effort="1e+9" velocity="1e+9"/>
@@ -882,7 +882,7 @@
   </link>
   <joint name="r_index_dist" type="revolute">
     <origin xyz="4.163336342344337e-17 -0.0014999999999998903 -0.040000000000000036" rpy="1.942890293094024e-16 3.469446951953614e-17 1.665334536937736e-16"/>
-    <axis xyz="-0.9781476007113639 -2.3469068155297194e-11 -0.2079116909233363"/>
+    <axis xyz="-0.9999999999999993 -2.0122792321330975e-16 -4.510281037539697e-16"/>
     <parent link="r_hand_index_2"/>
     <child link="r_hand_index_3"/>
     <limit lower="0" upper="1.7994344588061537" effort="1e+9" velocity="1e+9"/>
@@ -915,7 +915,7 @@
   </link>
   <joint name="neck_roll" type="revolute">
     <origin xyz="8.673617379884035e-19 6.416192023745373e-17 0.009499999999999786" rpy="-1.7364294099408703e-15 -2.980403162017727e-16 1.580860396783509e-15"/>
-    <axis xyz="1 -1.6832426434147407e-15 -3.770068640066623e-15"/>
+    <axis xyz="1 -1.6820355477448088e-15 -3.806893332301044e-15"/>
     <parent link="neck_2"/>
     <child link="neck_3"/>
     <limit lower="-0.3490658503988659" upper="0.3490658503988659" effort="1e+9" velocity="1e+9"/>
@@ -948,7 +948,7 @@
   </link>
   <joint name="neck_yaw" type="revolute">
     <origin xyz="-1.43982048506075e-16 -4.1419339784385294e-17 0.06914999999999999" rpy="1.2720090288173385e-15 -3.1687776687987536e-15 3.715432083235576e-16"/>
-    <axis xyz="3.4240774521066226e-15 -2.686540855695209e-16 0.9999999999999998"/>
+    <axis xyz="3.1628618281392715e-15 1.6479574685948862e-15 0.9999999999999998"/>
     <parent link="neck_3"/>
     <child link="head"/>
     <limit lower="-0.7853981633974483" upper="0.7853981633974483" effort="1e+9" velocity="1e+9"/>
@@ -981,7 +981,7 @@
   </link>
   <joint name="camera_tilt" type="revolute">
     <origin xyz="0.06250999999999993 -3.0000000001105853e-5 0.07639250000000064" rpy="9.166950960511526e-15 2.595819949100105e-4 1.9343583275079285e-15"/>
-    <axis xyz="-3.611636085008543e-15 -1 -1.9429477071513935e-15"/>
+    <axis xyz="-3.1332662159460226e-17 -1 -1.3036401662462866e-15"/>
     <parent link="head"/>
     <child link="realsense"/>
     <limit lower="-0.5235987755982988" upper="0.5235987755982988" effort="1e+9" velocity="1e+9"/>
@@ -1014,7 +1014,7 @@
   </link>
   <joint name="l_shoulder_roll" type="revolute">
     <origin xyz="0.005000000000000011 0.09329999999999987 -3.0531133177191805e-16" rpy="2.6895152771544417e-14 1.790234627208065e-15 -2.3314683517128287e-15"/>
-    <axis xyz="1 7.615436059538576e-16 3.2196467714129958e-15"/>
+    <axis xyz="1 4.891920202255013e-16 3.3029134982598896e-15"/>
     <parent link="l_shoulder_1"/>
     <child link="l_shoulder_2"/>
     <limit lower="-0.2617993877991494" upper="2.6179938779914944" effort="1e+9" velocity="1e+9"/>
@@ -1077,7 +1077,7 @@
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
     <origin xyz="4.163336342344337e-17 -5.551115123125783e-17 -0.022499999999999937" rpy="-3.3029134982598486e-15 -3.002459392220658e-14 6.383782391594671e-15"/>
-    <axis xyz="-2.982336599899327e-14 3.2196467714129528e-15 -0.9999999999999977"/>
+    <axis xyz="-3.0080105073437835e-14 3.191891195797326e-15 -0.9999999999999977"/>
     <parent link="l_shoulder_3"/>
     <child link="l_upper_arm"/>
     <limit lower="-0.8726646259971648" upper="1.3962634015954636" effort="1e+9" velocity="1e+9"/>
@@ -1110,7 +1110,7 @@
   </link>
   <joint name="l_elbow" type="revolute">
     <origin xyz="0.009999999999996342 -0.0014999999999996405 -0.12369999999999956" rpy="-3.1641356201817088e-15 -3.134298376394895e-14 -7.827072323607395e-15"/>
-    <axis xyz="-6.9388939037918944e-18 -0.9999999999999953 6.4392935428256776e-15"/>
+    <axis xyz="-4.215378046622413e-16 -0.9999999999999953 6.5780714209038095e-15"/>
     <parent link="l_upper_arm"/>
     <child link="l_forearm"/>
     <limit lower="-0.05235987755982989" upper="1.3089969389957472" effort="1e+9" velocity="1e+9"/>
@@ -1143,7 +1143,7 @@
   </link>
   <joint name="l_wrist_yaw" type="revolute">
     <origin xyz="-0.014999999999992455 0.0020000000000007234 -0.1943500000000013" rpy="-2.775557561562897e-16 -7.741723928589295e-14 -5.551115123125795e-17"/>
-    <axis xyz="-3.1939728639684985e-14 2.7755575615628937e-15 -0.9999999999999981"/>
+    <axis xyz="-3.1023794644369224e-14 2.9420910152566676e-15 -0.9999999999999981"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
     <limit lower="-1.6057029118347832" upper="1.6057029118347832" effort="1e+9" velocity="1e+9"/>
@@ -1176,7 +1176,7 @@
   </link>
   <joint name="l_wrist_roll" type="revolute">
     <origin xyz="2.7755575615628914e-17 1.942890293094024e-16 2.7755575615628914e-17" rpy="3.885780586188047e-16 9.71445146547012e-17 -4.440892098500624e-16"/>
-    <axis xyz="-1.0000000000000004 2.6294445787389307e-11 1.0798215793750289e-10"/>
+    <axis xyz="-1.0000000000000004 4.909267437014364e-16 -2.0122792321330943e-16"/>
     <parent link="l_wrist_1"/>
     <child link="l_wrist_2"/>
     <limit lower="-1.0821041362364843" upper="0.9075712110370514" effort="1e+9" velocity="1e+9"/>
@@ -1209,7 +1209,7 @@
   </link>
   <joint name="l_wrist_pitch" type="revolute">
     <origin xyz="-1.214306433183765e-16 -1.6653345369377348e-16 0" rpy="-4.163336342344336e-16 1.0798191507621624e-10 3.330669073875468e-16"/>
-    <axis xyz="-2.6293939251520434e-11 -1.0000000000000002 3.135719461582492e-11"/>
+    <axis xyz="-2.4459601009774425e-16 -1.0000000000000002 -1.3600232051562635e-15"/>
     <parent link="l_wrist_2"/>
     <child link="l_hand_palm"/>
     <limit lower="-0.5585053606381855" upper="0.5585053606381855" effort="1e+9" velocity="1e+9"/>
@@ -1242,7 +1242,7 @@
   </link>
   <joint name="l_index_add" type="revolute">
     <origin xyz="0.022500000000000034 -0.0015000000000006397 -0.06859999999999966" rpy="-8.126657451512497e-16 -0.2967059722446555 1.7414265967526777e-16"/>
-    <axis xyz="1.5978451487065422e-11 1.0000000000000002 -3.767719906891169e-11"/>
+    <axis xyz="1.3005559878087045e-15 1.0000000000000002 -1.953448495705706e-15"/>
     <parent link="l_hand_palm"/>
     <child link="l_hand_index_1"/>
     <limit lower="0" upper="0.2617993877991494" effort="1e+9" velocity="1e+9"/>
@@ -1275,7 +1275,7 @@
   </link>
   <joint name="l_middle_prox" type="revolute">
     <origin xyz="0.00960000000000016 -0.0015000000000005842 -0.10299999999999959" rpy="5.479728916549446e-4 1.4363510381087963e-15 -8.32667268468867e-16"/>
-    <axis xyz="-1.0000000000000004 2.629437917485816e-11 -9.988775473196015e-15"/>
+    <axis xyz="-1.0000000000000004 1.6098145522958664e-16 4.176883423103147e-15"/>
     <parent link="l_hand_palm"/>
     <child link="l_hand_middle_1"/>
     <limit lower="0" upper="1.5707963267948966" effort="1e+9" velocity="1e+9"/>
@@ -1308,7 +1308,7 @@
   </link>
   <joint name="l_pinkie_prox" type="revolute">
     <origin xyz="-0.035982322249527285 -0.0023883158589564635 -0.09206560929209856" rpy="-1.9934591492976922e-5 0.08728175651239228 0.02618761244812705"/>
-    <axis xyz="-0.9999999998538291 7.64480138992604e-6 -1.5293756888704046e-5"/>
+    <axis xyz="-0.9999999998538295 7.644772463726695e-6 -1.529375771042174e-5"/>
     <parent link="l_hand_palm"/>
     <child link="l_hand_pinkie_1"/>
     <limit lower="0" upper="1.5707963267948966" effort="1e+9" velocity="1e+9"/>
@@ -1341,7 +1341,7 @@
   </link>
   <joint name="l_ring_prox" type="revolute">
     <origin xyz="-0.015417755558120038 -0.0018498137284707894 -0.09788067183884419" rpy="-4.001819369804634e-5 0.08726646259973214 0.026179938779914452"/>
-    <axis xyz="-1.0000000000000002 2.8926226625044144e-11 8.259226635942696e-13"/>
+    <axis xyz="-1.0000000000000002 4.364549018964596e-17 3.6637359812630166e-15"/>
     <parent link="l_hand_palm"/>
     <child link="l_hand_ring_1"/>
     <limit lower="0" upper="1.5707963267948966" effort="1e+9" velocity="1e+9"/>
@@ -1374,7 +1374,7 @@
   </link>
   <joint name="l_thumb_add" type="revolute">
     <origin xyz="0.02337486325639077 -0.0030000000000002525 -0.03452383847355461" rpy="-0.04044970061859103 0.22331918636553513 2.9608435412698353"/>
-    <axis xyz="-6.391803752947567e-12 3.590529956687405e-11 -1.0000000000000002"/>
+    <axis xyz="9.71445146547012e-16 1.0269562977782698e-15 -1.0000000000000002"/>
     <parent link="l_hand_palm"/>
     <child link="l_hand_thumb_1"/>
     <limit lower="0" upper="1.7453292519943295" effort="1e+9" velocity="1e+9"/>
@@ -1407,7 +1407,7 @@
   </link>
   <joint name="l_thumb_prox" type="revolute">
     <origin xyz="-0.038093197449591214 -0.0032591938585579128 -0.0036017448035497446" rpy="1.37186358506996 0.1374915276146556 -3.1415926535689005"/>
-    <axis xyz="2.4115921065659407e-11 -3.3017838463322846e-11 -0.9999999999999997"/>
+    <axis xyz="5.134781488891349e-16 3.1363800445660672e-15 -0.9999999999999996"/>
     <parent link="l_hand_thumb_1"/>
     <child link="l_hand_thumb_2"/>
     <limit lower="0" upper="1.5707963267948966" effort="1e+9" velocity="1e+9"/>
@@ -1440,7 +1440,7 @@
   </link>
   <joint name="l_thumb_dist" type="revolute">
     <origin xyz="0.03500000000368915 -0.001499999993667872 1.0741685319004546e-12" rpy="1.8750459518379624e-11 -1.8465340367868066e-11 -1.4806766923669552e-12"/>
-    <axis xyz="5.648245760041583e-12 -5.177168416189185e-11 -0.9999999999999996"/>
+    <axis xyz="-1.846719305254041e-11 -1.8750709318560158e-11 -0.9999999999999996"/>
     <parent link="l_hand_thumb_2"/>
     <child link="l_hand_thumb_3"/>
     <limit lower="0" upper="1.7697638615222502" effort="1e+9" velocity="1e+9"/>
@@ -1473,7 +1473,7 @@
   </link>
   <joint name="l_ring_dist" type="revolute">
     <origin xyz="1.4987329953475292e-11 -0.0015000000002768354 -0.04000000000073728" rpy="-1.2044308636062927e-4 -1.0794291155358238e-10 -2.509104035652854e-13"/>
-    <axis xyz="-1 2.8664399475776237e-11 1.0876850894396261e-10"/>
+    <axis xyz="-1 -2.617159685310911e-13 1.0794249544288393e-10"/>
     <parent link="l_hand_ring_1"/>
     <child link="l_hand_ring_2"/>
     <limit lower="0" upper="1.7994344588061537" effort="1e+9" velocity="1e+9"/>
@@ -1506,7 +1506,7 @@
   </link>
   <joint name="l_pinkie_dist" type="revolute">
     <origin xyz="1.4015903021524778e-11 -0.0014999999962120036 -0.03500000000709719" rpy="-4.438681233740257e-5 -1.0794289073690067e-10 -2.489120021209601e-13"/>
-    <axis xyz="-0.9999999998538307 7.645479968428705e-6 -1.529330960500596e-5"/>
+    <axis xyz="-0.9999999998538309 7.645451042193251e-6 -1.5293310428212298e-5"/>
     <parent link="l_hand_pinkie_1"/>
     <child link="l_hand_pinkie_2"/>
     <limit lower="0" upper="1.7226399717184033" effort="1e+9" velocity="1e+9"/>
@@ -1539,7 +1539,7 @@
   </link>
   <joint name="l_middle_dist" type="revolute">
     <origin xyz="1.5440777129116512e-11 -0.001499999999999363 -0.03999999999896309" rpy="0.017535706363213464 -1.0797945176888035e-10 5.917488721252084e-14"/>
-    <axis xyz="-1 2.824224757752587e-11 1.074840171400902e-10"/>
+    <axis xyz="-1 1.952334931070572e-12 1.0795870667149422e-10"/>
     <parent link="l_hand_middle_1"/>
     <child link="l_hand_middle_2"/>
     <limit lower="0" upper="1.7994344588061537" effort="1e+9" velocity="1e+9"/>
@@ -1572,7 +1572,7 @@
   </link>
   <joint name="l_index_prox" type="revolute">
     <origin xyz="0.009192533346793416 -2.7755575615628914e-17 -0.030713451309624162" rpy="-2.7755575615628914e-16 -7.023611553469422e-10 -7.771561172376094e-16"/>
-    <axis xyz="-0.9781476007113546 2.346155062839741e-11 0.20791169092338443"/>
+    <axis xyz="-1.0000000000000002 2.7755575615627613e-17 7.023654366444809e-10"/>
     <parent link="l_hand_index_1"/>
     <child link="l_hand_index_2"/>
     <limit lower="0" upper="1.5707963267948966" effort="1e+9" velocity="1e+9"/>
@@ -1605,7 +1605,7 @@
   </link>
   <joint name="l_index_dist" type="revolute">
     <origin xyz="-2.7755575615628914e-17 -0.0014999999999999736 -0.039999999999999925" rpy="-7.482326169760975e-8 1.734723475976807e-16 -6.106226635438361e-16"/>
-    <axis xyz="-0.9781476007113552 -1.5533170287064815e-8 0.2079116909233797"/>
+    <axis xyz="-1 -1.804112664227406e-16 9.020562801946248e-17"/>
     <parent link="l_hand_index_2"/>
     <child link="l_hand_index_3"/>
     <limit lower="0" upper="1.7994344588061537" effort="1e+9" velocity="1e+9"/>
@@ -1638,7 +1638,7 @@
   </link>
   <joint name="r_hip_roll" type="revolute">
     <origin xyz="-0.047250000000000625 -0.033099999999999824 -0.009000000000000091" rpy="-2.73316156054826e-16 2.504641391024977e-16 -3.1036377681447894e-15"/>
-    <axis xyz="-1 -3.3813287685014083e-16 -8.532880891569492e-14"/>
+    <axis xyz="-1 -3.3813287685016297e-16 -7.120227705451219e-17"/>
     <parent link="r_hip_1"/>
     <child link="r_hip_2"/>
     <limit lower="-0.2792526803190927" upper="1.9024088846738192" effort="1e+9" velocity="1e+9"/>
@@ -1701,7 +1701,7 @@
   </link>
   <joint name="r_hip_yaw" type="revolute">
     <origin xyz="-2.8622937353617317e-16 0.014999999999999777 -0.07269999999999871" rpy="-3.94514163379533e-15 7.430123072146451e-16 1.2193157749540276e-6"/>
-    <axis xyz="8.528600225431674e-14 1.503215654809462e-15 -1"/>
+    <axis xyz="-2.3953050207433507e-20 1.4749328491810949e-15 -1"/>
     <parent link="r_hip_3"/>
     <child link="r_upper_leg"/>
     <limit lower="-1.3788101090755203" upper="1.3788101090755203" effort="1e+9" velocity="1e+9"/>
@@ -1734,7 +1734,7 @@
   </link>
   <joint name="r_knee" type="revolute">
     <origin xyz="0.01060000963260985 0.007899987075259289 -0.17970000000000058" rpy="6.892643261935339e-14 -6.650159361880639e-14 -1.2193157700904425e-6"/>
-    <axis xyz="1.7937066152151813e-16 -1 3.2454535731621664e-15"/>
+    <axis xyz="1.2193157766326317e-6 -0.9999999999992566 4.719551160658923e-15"/>
     <parent link="r_upper_leg"/>
     <child link="r_lower_leg"/>
     <limit lower="-1.8151424220741028" upper="0.10471975511965978" effort="1e+9" velocity="1e+9"/>
@@ -1767,7 +1767,7 @@
   </link>
   <joint name="r_ankle_pitch" type="revolute">
     <origin xyz="-5.936223734792634e-15 -0.03190000000000005 -0.3210000000000002" rpy="-2.9932805576414174e-15 -2.0242047360524565e-14 8.880636788937802e-17"/>
-    <axis xyz="-1.342621999194175e-15 1 -3.530978817196621e-14"/>
+    <axis xyz="-3.505264366441263e-17 1 -1.331317022347139e-16"/>
     <parent link="r_lower_leg"/>
     <child link="r_ankle_1"/>
     <limit lower="-0.7853981633974483" upper="0.7853981633974483" effort="1e+9" velocity="1e+9"/>
@@ -1800,7 +1800,7 @@
   </link>
   <joint name="r_ankle_roll" type="revolute">
     <origin xyz="-0.052750000000001546 0.018200000000000008 -0.0349999999999977" rpy="-1.0176053241861382e-24 3.8838282931741325e-14 -9.278622199115707e-23"/>
-    <axis xyz="-1 -2.1833586821066654e-16 2.39275322255624e-15"/>
+    <axis xyz="-1 -1.628246671334752e-16 2.560295622560413e-15"/>
     <parent link="r_ankle_1"/>
     <child link="r_ankle_2"/>
     <limit lower="-0.4363323129985824" upper="0.4363323129985824" effort="1e+9" velocity="1e+9"/>
@@ -1887,7 +1887,7 @@
   </link>
   <joint name="l_hip_roll" type="revolute">
     <origin xyz="-0.04725000000000078 0.033100000000000004 -0.009000000000000119" rpy="7.584245024416732e-16 1.5745686587446743e-30 1.1102230246251548e-16"/>
-    <axis xyz="1 -2.277657936511405e-16 5.765028837511023e-16"/>
+    <axis xyz="1 -6.123233995736708e-17 6.3201403498236e-16"/>
     <parent link="l_hip_1"/>
     <child link="l_hip_2"/>
     <limit lower="-0.2792526803190927" upper="1.9024088846738192" effort="1e+9" velocity="1e+9"/>
@@ -1950,7 +1950,7 @@
   </link>
   <joint name="l_hip_yaw" type="revolute">
     <origin xyz="-8.448103328007051e-16 -0.014999999999999944 -0.07269999999999993" rpy="3.011883887564833e-16 1.143142903721238e-14 -2.2204460492502608e-16"/>
-    <axis xyz="-8.067476499456731e-16 -6.18105884562747e-17 1"/>
+    <axis xyz="-8.622588011769357e-16 1.593666547307703e-16 1"/>
     <parent link="l_hip_3"/>
     <child link="l_upper_leg"/>
     <limit lower="-1.3788101090755203" upper="1.3788101090755203" effort="1e+9" velocity="1e+9"/>
@@ -1983,7 +1983,7 @@
   </link>
   <joint name="l_knee" type="revolute">
     <origin xyz="0.010600000000000822 -0.007900000000000185 -0.17969999999999958" rpy="1.970486418692682e-16 -1.1419428146632273e-14 2.8602839935211434e-15"/>
-    <axis xyz="-4.27427208334911e-16 -1 1.3523805341303425e-16"/>
+    <axis xyz="-2.608937546411318e-16 -1 5.166588955193111e-17"/>
     <parent link="l_upper_leg"/>
     <child link="l_lower_leg"/>
     <limit lower="-1.8151424220741028" upper="0.10471975511965978" effort="1e+9" velocity="1e+9"/>
@@ -2016,7 +2016,7 @@
   </link>
   <joint name="l_ankle_pitch" type="revolute">
     <origin xyz="-4.468647674116255e-15 0.03189999999999981 -0.3209999999999995" rpy="-1.9704864186927032e-16 -8.673617379880112e-19 -1.8683953730959558e-16"/>
-    <axis xyz="-7.24267500143743e-17 1 6.181058845623533e-17"/>
+    <axis xyz="-2.389602037081462e-16 1 1.4538275231733847e-16"/>
     <parent link="l_lower_leg"/>
     <child link="l_ankle_1"/>
     <limit lower="-0.7853981633974483" upper="0.7853981633974483" effort="1e+9" velocity="1e+9"/>
@@ -2049,7 +2049,7 @@
   </link>
   <joint name="l_ankle_roll" type="revolute">
     <origin xyz="-0.052750000000000324 -0.01819999999999991 -0.03499999999999959" rpy="3.340196646750626e-19 1.1217589357404033e-14 -2.3665827156630354e-30"/>
-    <axis xyz="1 -5.715619358951517e-16 -1.2940468202020292e-15"/>
+    <axis xyz="1 -4.05028482201375e-16 -1.2496691978128869e-15"/>
     <parent link="l_ankle_1"/>
     <child link="l_ankle_2"/>
     <limit lower="-0.4363323129985824" upper="0.4363323129985824" effort="1e+9" velocity="1e+9"/>