diff --git a/nao_dcm_common/nao_dcm_description/CMakeLists.txt b/nao_dcm_common/nao_dcm_description/CMakeLists.txt
index 21cc0a0..b5070bd 100644
--- a/nao_dcm_common/nao_dcm_description/CMakeLists.txt
+++ b/nao_dcm_common/nao_dcm_description/CMakeLists.txt
@@ -6,7 +6,7 @@ project(nao_dcm_description)
find_package(catkin REQUIRED)
##Needed for ros packages
-catkin_package(CATKIN_DEPENDS xacro)
+catkin_package(CATKIN_DEPENDS xacro nao_meshes)
install(DIRECTORY launch
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/nao_dcm_common/nao_dcm_description/package.xml b/nao_dcm_common/nao_dcm_description/package.xml
index 2aac5ae..d5d824a 100644
--- a/nao_dcm_common/nao_dcm_description/package.xml
+++ b/nao_dcm_common/nao_dcm_description/package.xml
@@ -39,6 +39,7 @@ OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISE
rviz
xacro
urdf
+ nao_meshes
diff --git a/nao_dcm_common/nao_dcm_description/urdf/modules/arms.xacro b/nao_dcm_common/nao_dcm_description/urdf/modules/arms.xacro
index 03b8a02..73766d3 100644
--- a/nao_dcm_common/nao_dcm_description/urdf/modules/arms.xacro
+++ b/nao_dcm_common/nao_dcm_description/urdf/modules/arms.xacro
@@ -48,6 +48,7 @@
+
diff --git a/nao_dcm_common/nao_dcm_description/urdf/nao_dcm_H21.xacro b/nao_dcm_common/nao_dcm_description/urdf/nao_dcm_H21.xacro
index 5063b85..5a061ad 100644
--- a/nao_dcm_common/nao_dcm_description/urdf/nao_dcm_H21.xacro
+++ b/nao_dcm_common/nao_dcm_description/urdf/nao_dcm_H21.xacro
@@ -4,8 +4,9 @@
-
+
+
diff --git a/nao_dcm_common/nao_dcm_description/urdf/nao_dcm_H25.xacro b/nao_dcm_common/nao_dcm_description/urdf/nao_dcm_H25.xacro
index 25a5b72..093f5d0 100644
--- a/nao_dcm_common/nao_dcm_description/urdf/nao_dcm_H25.xacro
+++ b/nao_dcm_common/nao_dcm_description/urdf/nao_dcm_H25.xacro
@@ -4,8 +4,9 @@
-
+
+
diff --git a/nao_dcm_common/nao_dcm_description/urdf/nao_dcm_visuals_collisions.xacro b/nao_dcm_common/nao_dcm_description/urdf/nao_dcm_visuals_collisions.xacro
index 7ef647e..fd60707 100644
--- a/nao_dcm_common/nao_dcm_description/urdf/nao_dcm_visuals_collisions.xacro
+++ b/nao_dcm_common/nao_dcm_description/urdf/nao_dcm_visuals_collisions.xacro
@@ -24,156 +24,385 @@
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