diff --git a/iCub/robots/iCubDarmstadt01/model.urdf b/iCub/robots/iCubDarmstadt01/model.urdf
index 9630b0a..7761da1 100644
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diff --git a/iCub/robots/iCubErzelli02/model.urdf b/iCub/robots/iCubErzelli02/model.urdf
index 1ad6b57..3bd7b1d 100644
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diff --git a/iCub/robots/iCubGazeboV2_5/model.urdf b/iCub/robots/iCubGazeboV2_5/model.urdf
index 518414d..9f1d8be 100644
--- a/iCub/robots/iCubGazeboV2_5/model.urdf
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diff --git a/iCub/robots/iCubGazeboV2_5_KIT_007/model.urdf b/iCub/robots/iCubGazeboV2_5_KIT_007/model.urdf
index 0f071a3..8d7b7f9 100644
--- a/iCub/robots/iCubGazeboV2_5_KIT_007/model.urdf
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diff --git a/iCub/robots/iCubGazeboV2_6/model.urdf b/iCub/robots/iCubGazeboV2_6/model.urdf
index 518414d..b48ec9d 100644
--- a/iCub/robots/iCubGazeboV2_6/model.urdf
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model://iCub/conf/gazebo_icub_inertial.ini
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diff --git a/iCub/robots/iCubGazeboV2_7/model.urdf b/iCub/robots/iCubGazeboV2_7/model.urdf
index 07b2690..8bb5a4d 100644
--- a/iCub/robots/iCubGazeboV2_7/model.urdf
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model://iCub/conf/gazebo_icub_inertial.ini
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diff --git a/iCub/robots/iCubGazeboV3/model.urdf b/iCub/robots/iCubGazeboV3/model.urdf
index c1a5fd9..2c91507 100644
--- a/iCub/robots/iCubGazeboV3/model.urdf
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sensor
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+ 0.0 2.7755575615628914e-17 0.0 3.141592646862139 -3.104683320142575e-08 -1.5707962571980942
model://iCub/conf_icub3/FT/gazebo_icub_left_arm_ft.ini
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sensor
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diff --git a/iCub/robots/iCubGenova01/model.urdf b/iCub/robots/iCubGenova01/model.urdf
index 9630b0a..7761da1 100644
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diff --git a/iCub/robots/iCubGenova02/model.urdf b/iCub/robots/iCubGenova02/model.urdf
index ab815a7..6f8ffdc 100644
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diff --git a/iCub/robots/iCubGenova04/model.urdf b/iCub/robots/iCubGenova04/model.urdf
index 1ad6b57..3bd7b1d 100644
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diff --git a/iCub/robots/iCubGenova09/model.urdf b/iCub/robots/iCubGenova09/model.urdf
index ae8f36a..4cff3ff 100644
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+ 0.0 2.7755575615628914e-17 0.0 3.141592646862139 -3.104683320142575e-08 -1.5707962571980942
model://iCub/conf_icub3/FT/gazebo_icub_left_arm_ft.ini
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sensor
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diff --git a/iCub/robots/iCubGenova11/model.urdf b/iCub/robots/iCubGenova11/model.urdf
new file mode 100644
index 0000000..d33784d
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diff --git a/iCub/robots/iCubWaterloo01/model.urdf b/iCub/robots/iCubWaterloo01/model.urdf
new file mode 100644
index 0000000..d33784d
--- /dev/null
+++ b/iCub/robots/iCubWaterloo01/model.urdf
@@ -0,0 +1,3582 @@
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diff --git a/iCub/robots/left_hand_mk3/model.urdf b/iCub/robots/left_hand_mk3/model.urdf
index c60aa07..1310afa 100644
--- a/iCub/robots/left_hand_mk3/model.urdf
+++ b/iCub/robots/left_hand_mk3/model.urdf
@@ -203,7 +203,7 @@
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