diff --git a/README.md b/README.md
index 4f7cebe..a083577 100644
--- a/README.md
+++ b/README.md
@@ -66,7 +66,7 @@ Notes/Limitations
 -----------------
 * **nao_dcm can be run locally**, *but you need to have built and installed ROS Hydro on Nao as nao_dcm requires ros_controls packages* (available only on >= Hydro). Yet, running **nao_dcm** driver remotely is identical in performance as running it locally (if the connection is strong and persistent - Wi-Fi usage is not recommended).
 * Tutorials will become available as soon as possible.
-* Integration with [nao_meshes] for better visual feedback. You can disable it if you want a rough 3D model made of boxes and cylinders.
+* Integration with [nao_meshes] for better visual feedback. You can disable it if you want a rough 3D model made of boxes and cylinders. **NOTE**: *You need to convert the .obj and the .ply 3D objects to the collada format (in the same folder).*
 * Although my intension is to provide ROS integration to the machine, basic gait and motion planning schemes are on the way for those that want quick results/feedback.
 * *Integration for LED, IR and Audio hardware is not available and is not on my agenda*. So, **feel free to contribute in that direction**.
 * **This is only ONE part of my Diploma Thesis** (*"Navigation of Humanoid Robots in Unknown Space With Dynamic Obstacles"*), so many parts of the code are not perfect and well-thought. So, **PRs for code improvement are welcomed.**
diff --git a/nao_dcm_apps/nao_dcm_moveit_config/config/nao_robot_v4_H21.srdf b/nao_dcm_apps/nao_dcm_moveit_config/config/nao_robot_v4_H21.srdf
index c80d942..3f267e7 100644
--- a/nao_dcm_apps/nao_dcm_moveit_config/config/nao_robot_v4_H21.srdf
+++ b/nao_dcm_apps/nao_dcm_moveit_config/config/nao_robot_v4_H21.srdf
@@ -70,6 +70,22 @@
     <!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
     <passive_joint name="virtual_joint" />
     <passive_joint name="RHipYawPitch" />
+    <passive_joint name="LFinger1" />
+    <passive_joint name="LFinger1_1" />
+    <passive_joint name="LFinger1_2" />
+    <passive_joint name="LFinger2" />
+    <passive_joint name="LFinger2_1" />
+    <passive_joint name="LFinger2_2" />
+    <passive_joint name="LThumb1_joint" />
+    <passive_joint name="LThumb1_2" />
+    <passive_joint name="RFinger1" />
+    <passive_joint name="RFinger1_1" />
+    <passive_joint name="RFinger1_2" />
+    <passive_joint name="RFinger2" />
+    <passive_joint name="RFinger2_1" />
+    <passive_joint name="RFinger2_2" />
+    <passive_joint name="RThumb1_joint" />
+    <passive_joint name="RThumb1_2" />
     <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
     <disable_collisions link1="LElbowDummy" link2="LFinger11" reason="Never" />
     <disable_collisions link1="LElbowDummy" link2="LFinger12" reason="Never" />
diff --git a/nao_dcm_apps/nao_dcm_moveit_config/config/nao_robot_v4_H25.srdf b/nao_dcm_apps/nao_dcm_moveit_config/config/nao_robot_v4_H25.srdf
index 3487750..47e33d5 100644
--- a/nao_dcm_apps/nao_dcm_moveit_config/config/nao_robot_v4_H25.srdf
+++ b/nao_dcm_apps/nao_dcm_moveit_config/config/nao_robot_v4_H25.srdf
@@ -101,6 +101,22 @@
     <!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
     <passive_joint name="virtual_joint" />
     <passive_joint name="RHipYawPitch" />
+    <passive_joint name="LFinger1" />
+    <passive_joint name="LFinger1_1" />
+    <passive_joint name="LFinger1_2" />
+    <passive_joint name="LFinger2" />
+    <passive_joint name="LFinger2_1" />
+    <passive_joint name="LFinger2_2" />
+    <passive_joint name="LThumb1_joint" />
+    <passive_joint name="LThumb1_2" />
+    <passive_joint name="RFinger1" />
+    <passive_joint name="RFinger1_1" />
+    <passive_joint name="RFinger1_2" />
+    <passive_joint name="RFinger2" />
+    <passive_joint name="RFinger2_1" />
+    <passive_joint name="RFinger2_2" />
+    <passive_joint name="RThumb1_joint" />
+    <passive_joint name="RThumb1_2" />
     <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
     <disable_collisions link1="LElbowDummy" link2="LFinger11" reason="Never" />
     <disable_collisions link1="LElbowDummy" link2="LFinger12" reason="Never" />