diff --git a/urdf/ergoCub/conf/gazebo_ergocub_head.ini b/urdf/ergoCub/conf/gazebo_ergocub_head.ini
index b4acbc45..815cf028 100644
--- a/urdf/ergoCub/conf/gazebo_ergocub_head.ini
+++ b/urdf/ergoCub/conf/gazebo_ergocub_head.ini
@@ -7,6 +7,7 @@ min_stiffness 0.0    0.0    0.0    0.0
 max_stiffness 1000.0 1000.0 1000.0 1000.0
 min_damping   0.0    0.0    0.0    0.0
 max_damping   100.0  100.0  100.0  100.0
+max_torques   1000000.0 1000000.0 1000000.0 1000000.0
 
 
 #PIDs:
diff --git a/urdf/ergoCub/conf/gazebo_ergocub_left_arm.ini b/urdf/ergoCub/conf/gazebo_ergocub_left_arm.ini
index 2829d0ec..70bc6917 100644
--- a/urdf/ergoCub/conf/gazebo_ergocub_left_arm.ini
+++ b/urdf/ergoCub/conf/gazebo_ergocub_left_arm.ini
@@ -7,6 +7,7 @@ min_stiffness 0.0    0.0    0.0    0.0    0.0    0.0    0.0
 max_stiffness 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0
 min_damping   0.0    0.0    0.0    0.0    0.0    0.0    0.0
 max_damping   100.0  100.0  100.0  100.0  100.0  100.0  100.0
+max_torques   1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0
 
 [TRAJECTORY_GENERATION]
 trajectory_type minimum_jerk
diff --git a/urdf/ergoCub/conf/gazebo_ergocub_left_hand_mk5_0.ini b/urdf/ergoCub/conf/gazebo_ergocub_left_hand_mk5_0.ini
index 3828a9d1..7e0b40a5 100644
--- a/urdf/ergoCub/conf/gazebo_ergocub_left_hand_mk5_0.ini
+++ b/urdf/ergoCub/conf/gazebo_ergocub_left_hand_mk5_0.ini
@@ -1,6 +1,7 @@
 disableImplicitNetworkWrapper
 yarpDeviceName left_hand_hardware_device
 jointNames l_thumb_add l_thumb_prox l_thumb_dist l_index_add l_index_prox l_index_dist l_middle_prox l_middle_dist l_ring_prox l_ring_dist l_pinkie_prox l_pinkie_dist
+max_torques 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0
 
 [COUPLING]
 icub_hand_mk5 (0 1 2 3 4 5 6 7 8 9 10 11) (l_thumb_add l_thumb_oc l_index_add l_index_oc l_middle_oc l_ring_pinky_oc reserved reserved reserved reserved reserved reserved) (0.0 0.0 0.0 0.0 0.0 0.0) (90.0 82.1 15.0 90.0 90.0 90.0)
diff --git a/urdf/ergoCub/conf/gazebo_ergocub_left_hand_mk5_1.ini b/urdf/ergoCub/conf/gazebo_ergocub_left_hand_mk5_1.ini
index ba8b3ed9..2fd4a31f 100644
--- a/urdf/ergoCub/conf/gazebo_ergocub_left_hand_mk5_1.ini
+++ b/urdf/ergoCub/conf/gazebo_ergocub_left_hand_mk5_1.ini
@@ -1,6 +1,7 @@
 disableImplicitNetworkWrapper
 yarpDeviceName left_hand_hardware_device
 jointNames l_thumb_add l_thumb_prox l_thumb_dist l_index_add l_index_prox l_index_dist l_middle_prox l_middle_dist l_ring_prox l_ring_dist l_pinkie_prox l_pinkie_dist
+max_torques 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0
 
 [COUPLING]
 icub_hand_mk5 (0 1 2 3 4 5 6 7 8 9 10 11) (l_thumb_add l_thumb_oc l_index_add l_index_oc l_middle_oc l_ring_pinky_oc reserved reserved reserved reserved reserved reserved) (0.0 0.0 0.0 0.0 0.0 0.0) (100.0 90.0 15.0 90.0 90.0 90.0)
diff --git a/urdf/ergoCub/conf/gazebo_ergocub_left_leg.ini b/urdf/ergoCub/conf/gazebo_ergocub_left_leg.ini
index c6b7c067..87fe202a 100644
--- a/urdf/ergoCub/conf/gazebo_ergocub_left_leg.ini
+++ b/urdf/ergoCub/conf/gazebo_ergocub_left_leg.ini
@@ -2,6 +2,7 @@ disableImplicitNetworkWrapper
 yarpDeviceName left_leg_hardware_device
 
 jointNames l_hip_pitch l_hip_roll l_hip_yaw l_knee l_ankle_pitch l_ankle_roll
+max_torques 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0
 
 min_stiffness 0.0    0.0    0.0    0.0    0.0    0.0
 max_stiffness 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0
diff --git a/urdf/ergoCub/conf/gazebo_ergocub_right_arm.ini b/urdf/ergoCub/conf/gazebo_ergocub_right_arm.ini
index f37347d8..80d1c7e0 100644
--- a/urdf/ergoCub/conf/gazebo_ergocub_right_arm.ini
+++ b/urdf/ergoCub/conf/gazebo_ergocub_right_arm.ini
@@ -7,6 +7,7 @@ min_stiffness 0.0    0.0    0.0    0.0    0.0    0.0    0.0
 max_stiffness 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0
 min_damping   0.0    0.0    0.0    0.0    0.0    0.0    0.0
 max_damping   100.0  100.0  100.0  100.0  100.0  100.0  100.0
+max_torques   1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0
 
 [TRAJECTORY_GENERATION]
 trajectory_type minimum_jerk
diff --git a/urdf/ergoCub/conf/gazebo_ergocub_right_hand_mk5_0.ini b/urdf/ergoCub/conf/gazebo_ergocub_right_hand_mk5_0.ini
index 594e9c83..4a6c35e2 100644
--- a/urdf/ergoCub/conf/gazebo_ergocub_right_hand_mk5_0.ini
+++ b/urdf/ergoCub/conf/gazebo_ergocub_right_hand_mk5_0.ini
@@ -1,6 +1,7 @@
 disableImplicitNetworkWrapper
 yarpDeviceName right_hand_hardware_device
 jointNames r_thumb_add r_thumb_prox r_thumb_dist r_index_add r_index_prox r_index_dist r_middle_prox r_middle_dist r_ring_prox r_ring_dist r_pinkie_prox r_pinkie_dist
+max_torques 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0
 
 [COUPLING]
 icub_hand_mk5 (0 1 2 3 4 5 6 7 8 9 10 11) (r_thumb_add r_thumb_oc r_index_add r_index_oc r_middle_oc r_ring_pinky_oc reserved reserved reserved reserved reserved reserved) (0.0 0.0 0.0 0.0 0.0 0.0) (90.0 82.1 15.0 90.0 90.0 90.0)
diff --git a/urdf/ergoCub/conf/gazebo_ergocub_right_hand_mk5_1.ini b/urdf/ergoCub/conf/gazebo_ergocub_right_hand_mk5_1.ini
index a5648733..1db4c333 100644
--- a/urdf/ergoCub/conf/gazebo_ergocub_right_hand_mk5_1.ini
+++ b/urdf/ergoCub/conf/gazebo_ergocub_right_hand_mk5_1.ini
@@ -1,6 +1,7 @@
 disableImplicitNetworkWrapper
 yarpDeviceName right_hand_hardware_device
 jointNames r_thumb_add r_thumb_prox r_thumb_dist r_index_add r_index_prox r_index_dist r_middle_prox r_middle_dist r_ring_prox r_ring_dist r_pinkie_prox r_pinkie_dist
+max_torques 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0
 
 [COUPLING]
 icub_hand_mk5 (0 1 2 3 4 5 6 7 8 9 10 11) (r_thumb_add r_thumb_oc r_index_add r_index_oc r_middle_oc r_ring_pinky_oc reserved reserved reserved reserved reserved reserved) (0.0 0.0 0.0 0.0 0.0 0.0) (100.0 90.0 15.0 90.0 90.0 90.0)
diff --git a/urdf/ergoCub/conf/gazebo_ergocub_right_leg.ini b/urdf/ergoCub/conf/gazebo_ergocub_right_leg.ini
index 59ee1e65..38490a77 100644
--- a/urdf/ergoCub/conf/gazebo_ergocub_right_leg.ini
+++ b/urdf/ergoCub/conf/gazebo_ergocub_right_leg.ini
@@ -7,6 +7,7 @@ min_stiffness 0.0    0.0    0.0    0.0    0.0    0.0
 max_stiffness 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0
 min_damping   0.0    0.0    0.0    0.0    0.0    0.0
 max_damping   100.0  100.0  100.0  100.0  100.0  100.0
+max_torques 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0 1000000.0
 
 [TRAJECTORY_GENERATION]
 trajectory_type minimum_jerk
diff --git a/urdf/ergoCub/conf/gazebo_ergocub_torso.ini b/urdf/ergoCub/conf/gazebo_ergocub_torso.ini
index 93c3760d..9172db53 100644
--- a/urdf/ergoCub/conf/gazebo_ergocub_torso.ini
+++ b/urdf/ergoCub/conf/gazebo_ergocub_torso.ini
@@ -6,6 +6,7 @@ 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
+max_torques   1000000.0 1000000.0 1000000.0
 
 
 [TRAJECTORY_GENERATION]
diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf b/urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf
index f6b1672e..09175cef 100644
--- a/urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf
+++ b/urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf
@@ -3257,7 +3257,7 @@
     </plugin>
   </gazebo>
   <gazebo>
-    <pose>0.000000 0.000000 0.900000 0.000000 0.000000 0.000000</pose>
+    <pose>0.000000 0.000000 0.800000 0.000000 0.000000 0.000000</pose>
   </gazebo>
   <gazebo reference="l_arm_ft_sensor">
     <sensor name="l_arm_ft" type="force_torque">
diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1_1_minContacts/model.urdf b/urdf/ergoCub/robots/ergoCubGazeboV1_1_minContacts/model.urdf
index 7df4a5c9..14f0b5e5 100644
--- a/urdf/ergoCub/robots/ergoCubGazeboV1_1_minContacts/model.urdf
+++ b/urdf/ergoCub/robots/ergoCubGazeboV1_1_minContacts/model.urdf
@@ -3077,7 +3077,7 @@
     </plugin>
   </gazebo>
   <gazebo>
-    <pose>0.000000 0.000000 0.900000 0.000000 0.000000 0.000000</pose>
+    <pose>0.000000 0.000000 0.800000 0.000000 0.000000 0.000000</pose>
   </gazebo>
   <gazebo reference="l_arm_ft_sensor">
     <sensor name="l_arm_ft" type="force_torque">
diff --git a/urdf/ergoCub/robots/ergoCubSN001/model.urdf b/urdf/ergoCub/robots/ergoCubSN001/model.urdf
index 23b8ff1a..74a25c8f 100644
--- a/urdf/ergoCub/robots/ergoCubSN001/model.urdf
+++ b/urdf/ergoCub/robots/ergoCubSN001/model.urdf
@@ -3257,7 +3257,7 @@
     </plugin>
   </gazebo>
   <gazebo>
-    <pose>0.000000 0.000000 0.900000 0.000000 0.000000 0.000000</pose>
+    <pose>0.000000 0.000000 0.800000 0.000000 0.000000 0.000000</pose>
   </gazebo>
   <gazebo reference="l_arm_ft_sensor">
     <sensor name="l_arm_ft" type="force_torque">