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 10f9392..75ed478 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
@@ -82,6 +82,7 @@
     <disable_collisions link1="LElbowDummy" link2="RShoulderDummy" reason="Never" />
     <disable_collisions link1="LElbowDummy" link2="l_wrist" reason="Adjacent" />
     <disable_collisions link1="LElbowDummy" link2="neck" reason="Never" />
+    <disable_collisions link1="LElbowDummy" link2="odroid" reason="Never" />
     <disable_collisions link1="LElbowDummy" link2="r_ankle" reason="Never" />
     <disable_collisions link1="LElbowDummy" link2="r_sole" reason="Never" />
     <disable_collisions link1="LHip" link2="LHipDummy" reason="Adjacent" />
@@ -89,7 +90,6 @@
     <disable_collisions link1="LHip" link2="LKnee" reason="Never" />
     <disable_collisions link1="LHip" link2="LShoulder" reason="Never" />
     <disable_collisions link1="LHip" link2="LShoulderDummy" reason="Never" />
-    <disable_collisions link1="LHip" link2="LeftCamera" reason="Never" />
     <disable_collisions link1="LHip" link2="RElbowDummy" reason="Never" />
     <disable_collisions link1="LHip" link2="RHip" reason="Never" />
     <disable_collisions link1="LHip" link2="RHipDummy" reason="Never" />
@@ -97,32 +97,31 @@
     <disable_collisions link1="LHip" link2="RKnee" reason="Never" />
     <disable_collisions link1="LHip" link2="RShoulder" reason="Never" />
     <disable_collisions link1="LHip" link2="RShoulderDummy" reason="Never" />
-    <disable_collisions link1="LHip" link2="RightCamera" reason="Never" />
     <disable_collisions link1="LHip" link2="gaze" reason="Never" />
     <disable_collisions link1="LHip" link2="helmet" reason="Never" />
     <disable_collisions link1="LHip" link2="l_ankle" reason="Never" />
     <disable_collisions link1="LHip" link2="neck" reason="Never" />
+    <disable_collisions link1="LHip" link2="odroid" reason="Never" />
+    <disable_collisions link1="LHip" link2="odroid_bag" reason="Never" />
     <disable_collisions link1="LHip" link2="r_sole" reason="Never" />
     <disable_collisions link1="LHipDummy" link2="LHipYaw" reason="Default" />
     <disable_collisions link1="LHipDummy" link2="LKnee" reason="Adjacent" />
     <disable_collisions link1="LHipDummy" link2="LShoulder" reason="Never" />
     <disable_collisions link1="LHipDummy" link2="LShoulderDummy" reason="Never" />
-    <disable_collisions link1="LHipDummy" link2="LeftCamera" reason="Never" />
     <disable_collisions link1="LHipDummy" link2="RHip" reason="Default" />
     <disable_collisions link1="LHipDummy" link2="RHipDummy" reason="Default" />
     <disable_collisions link1="LHipDummy" link2="RHipYaw" reason="Default" />
     <disable_collisions link1="LHipDummy" link2="RShoulder" reason="Never" />
-    <disable_collisions link1="LHipDummy" link2="RShoulderDummy" reason="Never" />
-    <disable_collisions link1="LHipDummy" link2="RightCamera" reason="Never" />
     <disable_collisions link1="LHipDummy" link2="gaze" reason="Never" />
     <disable_collisions link1="LHipDummy" link2="helmet" reason="Never" />
     <disable_collisions link1="LHipDummy" link2="l_ankle" reason="Never" />
     <disable_collisions link1="LHipDummy" link2="neck" reason="Never" />
+    <disable_collisions link1="LHipDummy" link2="odroid" reason="Never" />
+    <disable_collisions link1="LHipDummy" link2="odroid_bag" reason="Never" />
     <disable_collisions link1="LHipDummy" link2="torso" reason="Default" />
     <disable_collisions link1="LHipYaw" link2="LKnee" reason="Never" />
     <disable_collisions link1="LHipYaw" link2="LShoulder" reason="Never" />
     <disable_collisions link1="LHipYaw" link2="LShoulderDummy" reason="Never" />
-    <disable_collisions link1="LHipYaw" link2="LeftCamera" reason="Never" />
     <disable_collisions link1="LHipYaw" link2="RElbowDummy" reason="Never" />
     <disable_collisions link1="LHipYaw" link2="RHip" reason="Never" />
     <disable_collisions link1="LHipYaw" link2="RHipDummy" reason="Never" />
@@ -130,26 +129,23 @@
     <disable_collisions link1="LHipYaw" link2="RKnee" reason="Never" />
     <disable_collisions link1="LHipYaw" link2="RShoulder" reason="Never" />
     <disable_collisions link1="LHipYaw" link2="RShoulderDummy" reason="Never" />
-    <disable_collisions link1="LHipYaw" link2="RightCamera" reason="Never" />
     <disable_collisions link1="LHipYaw" link2="gaze" reason="Never" />
     <disable_collisions link1="LHipYaw" link2="helmet" reason="Never" />
     <disable_collisions link1="LHipYaw" link2="l_ankle" reason="Never" />
     <disable_collisions link1="LHipYaw" link2="neck" reason="Never" />
-    <disable_collisions link1="LHipYaw" link2="r_wrist" reason="Never" />
+    <disable_collisions link1="LHipYaw" link2="odroid" reason="Never" />
+    <disable_collisions link1="LHipYaw" link2="odroid_bag" reason="Never" />
     <disable_collisions link1="LHipYaw" link2="torso" reason="Adjacent" />
     <disable_collisions link1="LKnee" link2="LShoulder" reason="Never" />
-    <disable_collisions link1="LKnee" link2="LeftCamera" reason="Never" />
-    <disable_collisions link1="LKnee" link2="RElbowDummy" reason="Never" />
     <disable_collisions link1="LKnee" link2="RKnee" reason="Default" />
     <disable_collisions link1="LKnee" link2="RShoulder" reason="Never" />
     <disable_collisions link1="LKnee" link2="RShoulderDummy" reason="Never" />
-    <disable_collisions link1="LKnee" link2="RightCamera" reason="Never" />
-    <disable_collisions link1="LKnee" link2="gaze" reason="Never" />
     <disable_collisions link1="LKnee" link2="helmet" reason="Never" />
     <disable_collisions link1="LKnee" link2="l_ankle" reason="Adjacent" />
     <disable_collisions link1="LKnee" link2="neck" reason="Never" />
+    <disable_collisions link1="LKnee" link2="odroid" reason="Never" />
+    <disable_collisions link1="LKnee" link2="odroid_bag" reason="Never" />
     <disable_collisions link1="LShoulder" link2="LShoulderDummy" reason="Adjacent" />
-    <disable_collisions link1="LShoulder" link2="LeftCamera" reason="Never" />
     <disable_collisions link1="LShoulder" link2="RElbowDummy" reason="Never" />
     <disable_collisions link1="LShoulder" link2="RHip" reason="Never" />
     <disable_collisions link1="LShoulder" link2="RHipDummy" reason="Never" />
@@ -157,13 +153,14 @@
     <disable_collisions link1="LShoulder" link2="RKnee" reason="Never" />
     <disable_collisions link1="LShoulder" link2="RShoulder" reason="Never" />
     <disable_collisions link1="LShoulder" link2="RShoulderDummy" reason="Never" />
-    <disable_collisions link1="LShoulder" link2="RightCamera" reason="Never" />
     <disable_collisions link1="LShoulder" link2="gaze" reason="Default" />
     <disable_collisions link1="LShoulder" link2="helmet" reason="Never" />
     <disable_collisions link1="LShoulder" link2="l_ankle" reason="Never" />
     <disable_collisions link1="LShoulder" link2="l_sole" reason="Never" />
     <disable_collisions link1="LShoulder" link2="l_wrist" reason="Never" />
     <disable_collisions link1="LShoulder" link2="neck" reason="Never" />
+    <disable_collisions link1="LShoulder" link2="odroid" reason="Never" />
+    <disable_collisions link1="LShoulder" link2="odroid_bag" reason="Never" />
     <disable_collisions link1="LShoulder" link2="r_ankle" reason="Never" />
     <disable_collisions link1="LShoulder" link2="r_sole" reason="Never" />
     <disable_collisions link1="LShoulder" link2="r_wrist" reason="Never" />
@@ -179,28 +176,15 @@
     <disable_collisions link1="LShoulderDummy" link2="l_ankle" reason="Never" />
     <disable_collisions link1="LShoulderDummy" link2="l_wrist" reason="Never" />
     <disable_collisions link1="LShoulderDummy" link2="neck" reason="Never" />
+    <disable_collisions link1="LShoulderDummy" link2="odroid" reason="Never" />
+    <disable_collisions link1="LShoulderDummy" link2="odroid_bag" reason="Never" />
     <disable_collisions link1="LShoulderDummy" link2="r_ankle" reason="Never" />
     <disable_collisions link1="LShoulderDummy" link2="r_sole" reason="Never" />
     <disable_collisions link1="LShoulderDummy" link2="torso" reason="Default" />
-    <disable_collisions link1="LeftCamera" link2="RHip" reason="Never" />
-    <disable_collisions link1="LeftCamera" link2="RHipDummy" reason="Never" />
-    <disable_collisions link1="LeftCamera" link2="RHipYaw" reason="Never" />
-    <disable_collisions link1="LeftCamera" link2="RKnee" reason="Never" />
-    <disable_collisions link1="LeftCamera" link2="RShoulder" reason="Never" />
-    <disable_collisions link1="LeftCamera" link2="RightCamera" reason="Never" />
-    <disable_collisions link1="LeftCamera" link2="gaze" reason="Never" />
-    <disable_collisions link1="LeftCamera" link2="helmet" reason="Adjacent" />
-    <disable_collisions link1="LeftCamera" link2="l_ankle" reason="Never" />
-    <disable_collisions link1="LeftCamera" link2="l_sole" reason="Never" />
-    <disable_collisions link1="LeftCamera" link2="neck" reason="Never" />
-    <disable_collisions link1="LeftCamera" link2="r_ankle" reason="Never" />
-    <disable_collisions link1="LeftCamera" link2="r_sole" reason="Never" />
-    <disable_collisions link1="LeftCamera" link2="torso" reason="Never" />
     <disable_collisions link1="RElbowDummy" link2="RShoulder" reason="Never" />
     <disable_collisions link1="RElbowDummy" link2="RShoulderDummy" reason="Adjacent" />
     <disable_collisions link1="RElbowDummy" link2="l_ankle" reason="Never" />
     <disable_collisions link1="RElbowDummy" link2="l_sole" reason="Never" />
-    <disable_collisions link1="RElbowDummy" link2="l_wrist" reason="Never" />
     <disable_collisions link1="RElbowDummy" link2="neck" reason="Never" />
     <disable_collisions link1="RElbowDummy" link2="r_wrist" reason="Adjacent" />
     <disable_collisions link1="RHip" link2="RHipDummy" reason="Adjacent" />
@@ -208,89 +192,98 @@
     <disable_collisions link1="RHip" link2="RKnee" reason="Never" />
     <disable_collisions link1="RHip" link2="RShoulder" reason="Never" />
     <disable_collisions link1="RHip" link2="RShoulderDummy" reason="Never" />
-    <disable_collisions link1="RHip" link2="RightCamera" reason="Never" />
     <disable_collisions link1="RHip" link2="gaze" reason="Never" />
     <disable_collisions link1="RHip" link2="helmet" reason="Never" />
     <disable_collisions link1="RHip" link2="l_ankle" reason="Never" />
     <disable_collisions link1="RHip" link2="neck" reason="Never" />
+    <disable_collisions link1="RHip" link2="odroid" reason="Never" />
+    <disable_collisions link1="RHip" link2="odroid_bag" reason="Never" />
     <disable_collisions link1="RHip" link2="r_ankle" reason="Never" />
     <disable_collisions link1="RHip" link2="torso" reason="Never" />
     <disable_collisions link1="RHipDummy" link2="RHipYaw" reason="Default" />
     <disable_collisions link1="RHipDummy" link2="RKnee" reason="Adjacent" />
     <disable_collisions link1="RHipDummy" link2="RShoulder" reason="Never" />
-    <disable_collisions link1="RHipDummy" link2="RightCamera" reason="Never" />
     <disable_collisions link1="RHipDummy" link2="gaze" reason="Never" />
     <disable_collisions link1="RHipDummy" link2="helmet" reason="Never" />
     <disable_collisions link1="RHipDummy" link2="l_ankle" reason="Never" />
     <disable_collisions link1="RHipDummy" link2="neck" reason="Never" />
+    <disable_collisions link1="RHipDummy" link2="odroid" reason="Never" />
+    <disable_collisions link1="RHipDummy" link2="odroid_bag" reason="Never" />
     <disable_collisions link1="RHipDummy" link2="r_ankle" reason="Never" />
     <disable_collisions link1="RHipYaw" link2="RKnee" reason="Never" />
     <disable_collisions link1="RHipYaw" link2="RShoulder" reason="Never" />
     <disable_collisions link1="RHipYaw" link2="RShoulderDummy" reason="Never" />
-    <disable_collisions link1="RHipYaw" link2="RightCamera" reason="Never" />
     <disable_collisions link1="RHipYaw" link2="gaze" reason="Never" />
     <disable_collisions link1="RHipYaw" link2="helmet" reason="Never" />
     <disable_collisions link1="RHipYaw" link2="l_ankle" reason="Never" />
     <disable_collisions link1="RHipYaw" link2="neck" reason="Never" />
+    <disable_collisions link1="RHipYaw" link2="odroid" reason="Never" />
+    <disable_collisions link1="RHipYaw" link2="odroid_bag" reason="Never" />
     <disable_collisions link1="RHipYaw" link2="r_ankle" reason="Never" />
     <disable_collisions link1="RHipYaw" link2="torso" reason="Adjacent" />
     <disable_collisions link1="RKnee" link2="RShoulder" reason="Never" />
-    <disable_collisions link1="RKnee" link2="RightCamera" reason="Never" />
     <disable_collisions link1="RKnee" link2="gaze" reason="Never" />
     <disable_collisions link1="RKnee" link2="helmet" reason="Never" />
-    <disable_collisions link1="RKnee" link2="l_wrist" reason="Never" />
     <disable_collisions link1="RKnee" link2="neck" reason="Never" />
+    <disable_collisions link1="RKnee" link2="odroid" reason="Never" />
+    <disable_collisions link1="RKnee" link2="odroid_bag" reason="Never" />
     <disable_collisions link1="RKnee" link2="r_ankle" reason="Adjacent" />
     <disable_collisions link1="RShoulder" link2="RShoulderDummy" reason="Adjacent" />
-    <disable_collisions link1="RShoulder" link2="RightCamera" reason="Never" />
     <disable_collisions link1="RShoulder" link2="helmet" reason="Never" />
     <disable_collisions link1="RShoulder" link2="l_ankle" reason="Never" />
     <disable_collisions link1="RShoulder" link2="l_sole" reason="Never" />
     <disable_collisions link1="RShoulder" link2="l_wrist" reason="Never" />
     <disable_collisions link1="RShoulder" link2="neck" reason="Never" />
+    <disable_collisions link1="RShoulder" link2="odroid" reason="Never" />
+    <disable_collisions link1="RShoulder" link2="odroid_bag" reason="Never" />
     <disable_collisions link1="RShoulder" link2="r_ankle" reason="Never" />
-    <disable_collisions link1="RShoulder" link2="r_sole" reason="Never" />
     <disable_collisions link1="RShoulder" link2="r_wrist" reason="Never" />
     <disable_collisions link1="RShoulder" link2="torso" reason="Adjacent" />
     <disable_collisions link1="RShoulderDummy" link2="l_ankle" reason="Never" />
     <disable_collisions link1="RShoulderDummy" link2="l_sole" reason="Never" />
     <disable_collisions link1="RShoulderDummy" link2="l_wrist" reason="Never" />
     <disable_collisions link1="RShoulderDummy" link2="neck" reason="Never" />
-    <disable_collisions link1="RShoulderDummy" link2="r_ankle" reason="Never" />
+    <disable_collisions link1="RShoulderDummy" link2="odroid" reason="Never" />
     <disable_collisions link1="RShoulderDummy" link2="r_wrist" reason="Never" />
-    <disable_collisions link1="RightCamera" link2="gaze" reason="Never" />
-    <disable_collisions link1="RightCamera" link2="helmet" reason="Adjacent" />
-    <disable_collisions link1="RightCamera" link2="l_ankle" reason="Never" />
-    <disable_collisions link1="RightCamera" link2="l_sole" reason="Never" />
-    <disable_collisions link1="RightCamera" link2="neck" reason="Never" />
-    <disable_collisions link1="RightCamera" link2="r_ankle" reason="Never" />
-    <disable_collisions link1="RightCamera" link2="r_sole" reason="Never" />
-    <disable_collisions link1="RightCamera" link2="torso" reason="Never" />
     <disable_collisions link1="gaze" link2="helmet" reason="Adjacent" />
     <disable_collisions link1="gaze" link2="l_ankle" reason="Never" />
     <disable_collisions link1="gaze" link2="l_sole" reason="Never" />
     <disable_collisions link1="gaze" link2="neck" reason="Adjacent" />
+    <disable_collisions link1="gaze" link2="odroid_bag" reason="Default" />
     <disable_collisions link1="gaze" link2="r_ankle" reason="Never" />
     <disable_collisions link1="gaze" link2="r_sole" reason="Never" />
     <disable_collisions link1="gaze" link2="torso" reason="Default" />
     <disable_collisions link1="helmet" link2="l_ankle" reason="Never" />
     <disable_collisions link1="helmet" link2="l_sole" reason="Never" />
     <disable_collisions link1="helmet" link2="neck" reason="Never" />
+    <disable_collisions link1="helmet" link2="odroid" reason="Never" />
+    <disable_collisions link1="helmet" link2="odroid_bag" reason="Never" />
     <disable_collisions link1="helmet" link2="r_ankle" reason="Never" />
     <disable_collisions link1="helmet" link2="r_sole" reason="Never" />
     <disable_collisions link1="helmet" link2="torso" reason="Never" />
     <disable_collisions link1="l_ankle" link2="l_sole" reason="Adjacent" />
     <disable_collisions link1="l_ankle" link2="neck" reason="Never" />
+    <disable_collisions link1="l_ankle" link2="odroid" reason="Never" />
+    <disable_collisions link1="l_ankle" link2="odroid_bag" reason="Never" />
     <disable_collisions link1="l_ankle" link2="r_wrist" reason="Never" />
     <disable_collisions link1="l_sole" link2="neck" reason="Never" />
-    <disable_collisions link1="l_sole" link2="r_wrist" reason="Never" />
+    <disable_collisions link1="l_sole" link2="odroid" reason="Never" />
+    <disable_collisions link1="l_sole" link2="odroid_bag" reason="Never" />
     <disable_collisions link1="l_wrist" link2="neck" reason="Never" />
     <disable_collisions link1="l_wrist" link2="r_ankle" reason="Never" />
-    <disable_collisions link1="l_wrist" link2="r_sole" reason="Never" />
+    <disable_collisions link1="neck" link2="odroid" reason="Never" />
+    <disable_collisions link1="neck" link2="odroid_bag" reason="Never" />
     <disable_collisions link1="neck" link2="r_ankle" reason="Never" />
     <disable_collisions link1="neck" link2="r_sole" reason="Never" />
     <disable_collisions link1="neck" link2="r_wrist" reason="Never" />
     <disable_collisions link1="neck" link2="torso" reason="Adjacent" />
+    <disable_collisions link1="odroid" link2="odroid_bag" reason="Adjacent" />
+    <disable_collisions link1="odroid" link2="r_ankle" reason="Never" />
+    <disable_collisions link1="odroid" link2="r_sole" reason="Never" />
+    <disable_collisions link1="odroid" link2="torso" reason="Never" />
+    <disable_collisions link1="odroid_bag" link2="r_ankle" reason="Never" />
+    <disable_collisions link1="odroid_bag" link2="r_sole" reason="Never" />
+    <disable_collisions link1="odroid_bag" link2="torso" reason="Adjacent" />
     <disable_collisions link1="r_ankle" link2="r_sole" reason="Adjacent" />
     <disable_collisions link1="r_ankle" link2="torso" reason="Never" />
     <disable_collisions link1="r_sole" link2="torso" 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 92a01aa..221a8ed 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
@@ -113,6 +113,7 @@
     <disable_collisions link1="LElbowDummy" link2="RShoulderDummy" reason="Never" />
     <disable_collisions link1="LElbowDummy" link2="l_wrist" reason="Adjacent" />
     <disable_collisions link1="LElbowDummy" link2="neck" reason="Never" />
+    <disable_collisions link1="LElbowDummy" link2="odroid" reason="Never" />
     <disable_collisions link1="LElbowDummy" link2="r_ankle" reason="Never" />
     <disable_collisions link1="LElbowDummy" link2="r_sole" reason="Never" />
     <disable_collisions link1="LHip" link2="LHipDummy" reason="Adjacent" />
@@ -120,7 +121,6 @@
     <disable_collisions link1="LHip" link2="LKnee" reason="Never" />
     <disable_collisions link1="LHip" link2="LShoulder" reason="Never" />
     <disable_collisions link1="LHip" link2="LShoulderDummy" reason="Never" />
-    <disable_collisions link1="LHip" link2="LeftCamera" reason="Never" />
     <disable_collisions link1="LHip" link2="RElbowDummy" reason="Never" />
     <disable_collisions link1="LHip" link2="RHip" reason="Never" />
     <disable_collisions link1="LHip" link2="RHipDummy" reason="Never" />
@@ -128,32 +128,31 @@
     <disable_collisions link1="LHip" link2="RKnee" reason="Never" />
     <disable_collisions link1="LHip" link2="RShoulder" reason="Never" />
     <disable_collisions link1="LHip" link2="RShoulderDummy" reason="Never" />
-    <disable_collisions link1="LHip" link2="RightCamera" reason="Never" />
     <disable_collisions link1="LHip" link2="gaze" reason="Never" />
     <disable_collisions link1="LHip" link2="helmet" reason="Never" />
     <disable_collisions link1="LHip" link2="l_ankle" reason="Never" />
     <disable_collisions link1="LHip" link2="neck" reason="Never" />
+    <disable_collisions link1="LHip" link2="odroid" reason="Never" />
+    <disable_collisions link1="LHip" link2="odroid_bag" reason="Never" />
     <disable_collisions link1="LHip" link2="r_sole" reason="Never" />
     <disable_collisions link1="LHipDummy" link2="LHipYaw" reason="Default" />
     <disable_collisions link1="LHipDummy" link2="LKnee" reason="Adjacent" />
     <disable_collisions link1="LHipDummy" link2="LShoulder" reason="Never" />
     <disable_collisions link1="LHipDummy" link2="LShoulderDummy" reason="Never" />
-    <disable_collisions link1="LHipDummy" link2="LeftCamera" reason="Never" />
     <disable_collisions link1="LHipDummy" link2="RHip" reason="Default" />
     <disable_collisions link1="LHipDummy" link2="RHipDummy" reason="Default" />
     <disable_collisions link1="LHipDummy" link2="RHipYaw" reason="Default" />
     <disable_collisions link1="LHipDummy" link2="RShoulder" reason="Never" />
-    <disable_collisions link1="LHipDummy" link2="RShoulderDummy" reason="Never" />
-    <disable_collisions link1="LHipDummy" link2="RightCamera" reason="Never" />
     <disable_collisions link1="LHipDummy" link2="gaze" reason="Never" />
     <disable_collisions link1="LHipDummy" link2="helmet" reason="Never" />
     <disable_collisions link1="LHipDummy" link2="l_ankle" reason="Never" />
     <disable_collisions link1="LHipDummy" link2="neck" reason="Never" />
+    <disable_collisions link1="LHipDummy" link2="odroid" reason="Never" />
+    <disable_collisions link1="LHipDummy" link2="odroid_bag" reason="Never" />
     <disable_collisions link1="LHipDummy" link2="torso" reason="Default" />
     <disable_collisions link1="LHipYaw" link2="LKnee" reason="Never" />
     <disable_collisions link1="LHipYaw" link2="LShoulder" reason="Never" />
     <disable_collisions link1="LHipYaw" link2="LShoulderDummy" reason="Never" />
-    <disable_collisions link1="LHipYaw" link2="LeftCamera" reason="Never" />
     <disable_collisions link1="LHipYaw" link2="RElbowDummy" reason="Never" />
     <disable_collisions link1="LHipYaw" link2="RHip" reason="Never" />
     <disable_collisions link1="LHipYaw" link2="RHipDummy" reason="Never" />
@@ -161,26 +160,23 @@
     <disable_collisions link1="LHipYaw" link2="RKnee" reason="Never" />
     <disable_collisions link1="LHipYaw" link2="RShoulder" reason="Never" />
     <disable_collisions link1="LHipYaw" link2="RShoulderDummy" reason="Never" />
-    <disable_collisions link1="LHipYaw" link2="RightCamera" reason="Never" />
     <disable_collisions link1="LHipYaw" link2="gaze" reason="Never" />
     <disable_collisions link1="LHipYaw" link2="helmet" reason="Never" />
     <disable_collisions link1="LHipYaw" link2="l_ankle" reason="Never" />
     <disable_collisions link1="LHipYaw" link2="neck" reason="Never" />
-    <disable_collisions link1="LHipYaw" link2="r_wrist" reason="Never" />
+    <disable_collisions link1="LHipYaw" link2="odroid" reason="Never" />
+    <disable_collisions link1="LHipYaw" link2="odroid_bag" reason="Never" />
     <disable_collisions link1="LHipYaw" link2="torso" reason="Adjacent" />
     <disable_collisions link1="LKnee" link2="LShoulder" reason="Never" />
-    <disable_collisions link1="LKnee" link2="LeftCamera" reason="Never" />
-    <disable_collisions link1="LKnee" link2="RElbowDummy" reason="Never" />
     <disable_collisions link1="LKnee" link2="RKnee" reason="Default" />
     <disable_collisions link1="LKnee" link2="RShoulder" reason="Never" />
     <disable_collisions link1="LKnee" link2="RShoulderDummy" reason="Never" />
-    <disable_collisions link1="LKnee" link2="RightCamera" reason="Never" />
-    <disable_collisions link1="LKnee" link2="gaze" reason="Never" />
     <disable_collisions link1="LKnee" link2="helmet" reason="Never" />
     <disable_collisions link1="LKnee" link2="l_ankle" reason="Adjacent" />
     <disable_collisions link1="LKnee" link2="neck" reason="Never" />
+    <disable_collisions link1="LKnee" link2="odroid" reason="Never" />
+    <disable_collisions link1="LKnee" link2="odroid_bag" reason="Never" />
     <disable_collisions link1="LShoulder" link2="LShoulderDummy" reason="Adjacent" />
-    <disable_collisions link1="LShoulder" link2="LeftCamera" reason="Never" />
     <disable_collisions link1="LShoulder" link2="RElbowDummy" reason="Never" />
     <disable_collisions link1="LShoulder" link2="RHip" reason="Never" />
     <disable_collisions link1="LShoulder" link2="RHipDummy" reason="Never" />
@@ -188,13 +184,14 @@
     <disable_collisions link1="LShoulder" link2="RKnee" reason="Never" />
     <disable_collisions link1="LShoulder" link2="RShoulder" reason="Never" />
     <disable_collisions link1="LShoulder" link2="RShoulderDummy" reason="Never" />
-    <disable_collisions link1="LShoulder" link2="RightCamera" reason="Never" />
     <disable_collisions link1="LShoulder" link2="gaze" reason="Default" />
     <disable_collisions link1="LShoulder" link2="helmet" reason="Never" />
     <disable_collisions link1="LShoulder" link2="l_ankle" reason="Never" />
     <disable_collisions link1="LShoulder" link2="l_sole" reason="Never" />
     <disable_collisions link1="LShoulder" link2="l_wrist" reason="Never" />
     <disable_collisions link1="LShoulder" link2="neck" reason="Never" />
+    <disable_collisions link1="LShoulder" link2="odroid" reason="Never" />
+    <disable_collisions link1="LShoulder" link2="odroid_bag" reason="Never" />
     <disable_collisions link1="LShoulder" link2="r_ankle" reason="Never" />
     <disable_collisions link1="LShoulder" link2="r_sole" reason="Never" />
     <disable_collisions link1="LShoulder" link2="r_wrist" reason="Never" />
@@ -210,28 +207,15 @@
     <disable_collisions link1="LShoulderDummy" link2="l_ankle" reason="Never" />
     <disable_collisions link1="LShoulderDummy" link2="l_wrist" reason="Never" />
     <disable_collisions link1="LShoulderDummy" link2="neck" reason="Never" />
+    <disable_collisions link1="LShoulderDummy" link2="odroid" reason="Never" />
+    <disable_collisions link1="LShoulderDummy" link2="odroid_bag" reason="Never" />
     <disable_collisions link1="LShoulderDummy" link2="r_ankle" reason="Never" />
     <disable_collisions link1="LShoulderDummy" link2="r_sole" reason="Never" />
     <disable_collisions link1="LShoulderDummy" link2="torso" reason="Default" />
-    <disable_collisions link1="LeftCamera" link2="RHip" reason="Never" />
-    <disable_collisions link1="LeftCamera" link2="RHipDummy" reason="Never" />
-    <disable_collisions link1="LeftCamera" link2="RHipYaw" reason="Never" />
-    <disable_collisions link1="LeftCamera" link2="RKnee" reason="Never" />
-    <disable_collisions link1="LeftCamera" link2="RShoulder" reason="Never" />
-    <disable_collisions link1="LeftCamera" link2="RightCamera" reason="Never" />
-    <disable_collisions link1="LeftCamera" link2="gaze" reason="Never" />
-    <disable_collisions link1="LeftCamera" link2="helmet" reason="Adjacent" />
-    <disable_collisions link1="LeftCamera" link2="l_ankle" reason="Never" />
-    <disable_collisions link1="LeftCamera" link2="l_sole" reason="Never" />
-    <disable_collisions link1="LeftCamera" link2="neck" reason="Never" />
-    <disable_collisions link1="LeftCamera" link2="r_ankle" reason="Never" />
-    <disable_collisions link1="LeftCamera" link2="r_sole" reason="Never" />
-    <disable_collisions link1="LeftCamera" link2="torso" reason="Never" />
     <disable_collisions link1="RElbowDummy" link2="RShoulder" reason="Never" />
     <disable_collisions link1="RElbowDummy" link2="RShoulderDummy" reason="Adjacent" />
     <disable_collisions link1="RElbowDummy" link2="l_ankle" reason="Never" />
     <disable_collisions link1="RElbowDummy" link2="l_sole" reason="Never" />
-    <disable_collisions link1="RElbowDummy" link2="l_wrist" reason="Never" />
     <disable_collisions link1="RElbowDummy" link2="neck" reason="Never" />
     <disable_collisions link1="RElbowDummy" link2="r_wrist" reason="Adjacent" />
     <disable_collisions link1="RHip" link2="RHipDummy" reason="Adjacent" />
@@ -239,89 +223,98 @@
     <disable_collisions link1="RHip" link2="RKnee" reason="Never" />
     <disable_collisions link1="RHip" link2="RShoulder" reason="Never" />
     <disable_collisions link1="RHip" link2="RShoulderDummy" reason="Never" />
-    <disable_collisions link1="RHip" link2="RightCamera" reason="Never" />
     <disable_collisions link1="RHip" link2="gaze" reason="Never" />
     <disable_collisions link1="RHip" link2="helmet" reason="Never" />
     <disable_collisions link1="RHip" link2="l_ankle" reason="Never" />
     <disable_collisions link1="RHip" link2="neck" reason="Never" />
+    <disable_collisions link1="RHip" link2="odroid" reason="Never" />
+    <disable_collisions link1="RHip" link2="odroid_bag" reason="Never" />
     <disable_collisions link1="RHip" link2="r_ankle" reason="Never" />
     <disable_collisions link1="RHip" link2="torso" reason="Never" />
     <disable_collisions link1="RHipDummy" link2="RHipYaw" reason="Default" />
     <disable_collisions link1="RHipDummy" link2="RKnee" reason="Adjacent" />
     <disable_collisions link1="RHipDummy" link2="RShoulder" reason="Never" />
-    <disable_collisions link1="RHipDummy" link2="RightCamera" reason="Never" />
     <disable_collisions link1="RHipDummy" link2="gaze" reason="Never" />
     <disable_collisions link1="RHipDummy" link2="helmet" reason="Never" />
     <disable_collisions link1="RHipDummy" link2="l_ankle" reason="Never" />
     <disable_collisions link1="RHipDummy" link2="neck" reason="Never" />
+    <disable_collisions link1="RHipDummy" link2="odroid" reason="Never" />
+    <disable_collisions link1="RHipDummy" link2="odroid_bag" reason="Never" />
     <disable_collisions link1="RHipDummy" link2="r_ankle" reason="Never" />
     <disable_collisions link1="RHipYaw" link2="RKnee" reason="Never" />
     <disable_collisions link1="RHipYaw" link2="RShoulder" reason="Never" />
     <disable_collisions link1="RHipYaw" link2="RShoulderDummy" reason="Never" />
-    <disable_collisions link1="RHipYaw" link2="RightCamera" reason="Never" />
     <disable_collisions link1="RHipYaw" link2="gaze" reason="Never" />
     <disable_collisions link1="RHipYaw" link2="helmet" reason="Never" />
     <disable_collisions link1="RHipYaw" link2="l_ankle" reason="Never" />
     <disable_collisions link1="RHipYaw" link2="neck" reason="Never" />
+    <disable_collisions link1="RHipYaw" link2="odroid" reason="Never" />
+    <disable_collisions link1="RHipYaw" link2="odroid_bag" reason="Never" />
     <disable_collisions link1="RHipYaw" link2="r_ankle" reason="Never" />
     <disable_collisions link1="RHipYaw" link2="torso" reason="Adjacent" />
     <disable_collisions link1="RKnee" link2="RShoulder" reason="Never" />
-    <disable_collisions link1="RKnee" link2="RightCamera" reason="Never" />
     <disable_collisions link1="RKnee" link2="gaze" reason="Never" />
     <disable_collisions link1="RKnee" link2="helmet" reason="Never" />
-    <disable_collisions link1="RKnee" link2="l_wrist" reason="Never" />
     <disable_collisions link1="RKnee" link2="neck" reason="Never" />
+    <disable_collisions link1="RKnee" link2="odroid" reason="Never" />
+    <disable_collisions link1="RKnee" link2="odroid_bag" reason="Never" />
     <disable_collisions link1="RKnee" link2="r_ankle" reason="Adjacent" />
     <disable_collisions link1="RShoulder" link2="RShoulderDummy" reason="Adjacent" />
-    <disable_collisions link1="RShoulder" link2="RightCamera" reason="Never" />
     <disable_collisions link1="RShoulder" link2="helmet" reason="Never" />
     <disable_collisions link1="RShoulder" link2="l_ankle" reason="Never" />
     <disable_collisions link1="RShoulder" link2="l_sole" reason="Never" />
     <disable_collisions link1="RShoulder" link2="l_wrist" reason="Never" />
     <disable_collisions link1="RShoulder" link2="neck" reason="Never" />
+    <disable_collisions link1="RShoulder" link2="odroid" reason="Never" />
+    <disable_collisions link1="RShoulder" link2="odroid_bag" reason="Never" />
     <disable_collisions link1="RShoulder" link2="r_ankle" reason="Never" />
-    <disable_collisions link1="RShoulder" link2="r_sole" reason="Never" />
     <disable_collisions link1="RShoulder" link2="r_wrist" reason="Never" />
     <disable_collisions link1="RShoulder" link2="torso" reason="Adjacent" />
     <disable_collisions link1="RShoulderDummy" link2="l_ankle" reason="Never" />
     <disable_collisions link1="RShoulderDummy" link2="l_sole" reason="Never" />
     <disable_collisions link1="RShoulderDummy" link2="l_wrist" reason="Never" />
     <disable_collisions link1="RShoulderDummy" link2="neck" reason="Never" />
-    <disable_collisions link1="RShoulderDummy" link2="r_ankle" reason="Never" />
+    <disable_collisions link1="RShoulderDummy" link2="odroid" reason="Never" />
     <disable_collisions link1="RShoulderDummy" link2="r_wrist" reason="Never" />
-    <disable_collisions link1="RightCamera" link2="gaze" reason="Never" />
-    <disable_collisions link1="RightCamera" link2="helmet" reason="Adjacent" />
-    <disable_collisions link1="RightCamera" link2="l_ankle" reason="Never" />
-    <disable_collisions link1="RightCamera" link2="l_sole" reason="Never" />
-    <disable_collisions link1="RightCamera" link2="neck" reason="Never" />
-    <disable_collisions link1="RightCamera" link2="r_ankle" reason="Never" />
-    <disable_collisions link1="RightCamera" link2="r_sole" reason="Never" />
-    <disable_collisions link1="RightCamera" link2="torso" reason="Never" />
     <disable_collisions link1="gaze" link2="helmet" reason="Adjacent" />
     <disable_collisions link1="gaze" link2="l_ankle" reason="Never" />
     <disable_collisions link1="gaze" link2="l_sole" reason="Never" />
     <disable_collisions link1="gaze" link2="neck" reason="Adjacent" />
+    <disable_collisions link1="gaze" link2="odroid_bag" reason="Default" />
     <disable_collisions link1="gaze" link2="r_ankle" reason="Never" />
     <disable_collisions link1="gaze" link2="r_sole" reason="Never" />
     <disable_collisions link1="gaze" link2="torso" reason="Default" />
     <disable_collisions link1="helmet" link2="l_ankle" reason="Never" />
     <disable_collisions link1="helmet" link2="l_sole" reason="Never" />
     <disable_collisions link1="helmet" link2="neck" reason="Never" />
+    <disable_collisions link1="helmet" link2="odroid" reason="Never" />
+    <disable_collisions link1="helmet" link2="odroid_bag" reason="Never" />
     <disable_collisions link1="helmet" link2="r_ankle" reason="Never" />
     <disable_collisions link1="helmet" link2="r_sole" reason="Never" />
     <disable_collisions link1="helmet" link2="torso" reason="Never" />
     <disable_collisions link1="l_ankle" link2="l_sole" reason="Adjacent" />
     <disable_collisions link1="l_ankle" link2="neck" reason="Never" />
+    <disable_collisions link1="l_ankle" link2="odroid" reason="Never" />
+    <disable_collisions link1="l_ankle" link2="odroid_bag" reason="Never" />
     <disable_collisions link1="l_ankle" link2="r_wrist" reason="Never" />
     <disable_collisions link1="l_sole" link2="neck" reason="Never" />
-    <disable_collisions link1="l_sole" link2="r_wrist" reason="Never" />
+    <disable_collisions link1="l_sole" link2="odroid" reason="Never" />
+    <disable_collisions link1="l_sole" link2="odroid_bag" reason="Never" />
     <disable_collisions link1="l_wrist" link2="neck" reason="Never" />
     <disable_collisions link1="l_wrist" link2="r_ankle" reason="Never" />
-    <disable_collisions link1="l_wrist" link2="r_sole" reason="Never" />
+    <disable_collisions link1="neck" link2="odroid" reason="Never" />
+    <disable_collisions link1="neck" link2="odroid_bag" reason="Never" />
     <disable_collisions link1="neck" link2="r_ankle" reason="Never" />
     <disable_collisions link1="neck" link2="r_sole" reason="Never" />
     <disable_collisions link1="neck" link2="r_wrist" reason="Never" />
     <disable_collisions link1="neck" link2="torso" reason="Adjacent" />
+    <disable_collisions link1="odroid" link2="odroid_bag" reason="Adjacent" />
+    <disable_collisions link1="odroid" link2="r_ankle" reason="Never" />
+    <disable_collisions link1="odroid" link2="r_sole" reason="Never" />
+    <disable_collisions link1="odroid" link2="torso" reason="Never" />
+    <disable_collisions link1="odroid_bag" link2="r_ankle" reason="Never" />
+    <disable_collisions link1="odroid_bag" link2="r_sole" reason="Never" />
+    <disable_collisions link1="odroid_bag" link2="torso" reason="Adjacent" />
     <disable_collisions link1="r_ankle" link2="r_sole" reason="Adjacent" />
     <disable_collisions link1="r_ankle" link2="torso" reason="Never" />
     <disable_collisions link1="r_sole" link2="torso" reason="Never" />
diff --git a/nao_dcm_common/nao_dcm_description/urdf/modules/helmet_cameras.xacro b/nao_dcm_common/nao_dcm_description/urdf/modules/helmet_cameras.xacro
index bb762d3..e361169 100644
--- a/nao_dcm_common/nao_dcm_description/urdf/modules/helmet_cameras.xacro
+++ b/nao_dcm_common/nao_dcm_description/urdf/modules/helmet_cameras.xacro
@@ -65,4 +65,79 @@
             <inertia ixx="1e-9" ixy="0" ixz="0" iyy="1e-9" iyz="0" izz="1e-9" />
         </inertial>
     </link>
+    <!-- GAZEBO RELATED PARAMETERS -->
+    <!-- DUMMY VALUES - CHANGE TO THE ONES YOUR CAMERAS HAVE -->
+    <gazebo reference="LeftCamera">
+        <sensor type="camera" name="LeftCamera">
+            <update_rate>30.0</update_rate>
+            <camera name="left_camera">
+                <horizontal_fov>1.06290551</horizontal_fov>
+                <image>
+                    <width>1280</width>
+                    <height>720</height>
+                    <format>R8G8B8</format>
+                </image>
+                <clip>
+                    <near>0.3</near>
+                    <far>500</far>
+                </clip>
+                <noise>
+                    <type>gaussian</type>
+                    <mean>0.0</mean>
+                    <stddev>0.007</stddev>
+                </noise>
+            </camera>
+            <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
+                <alwaysOn>true</alwaysOn>
+                <updateRate>0.0</updateRate>
+                <cameraName>nao_dcm/CameraLeft</cameraName>
+                <imageTopicName>image_raw</imageTopicName>
+                <cameraInfoTopicName>camera_info</cameraInfoTopicName>
+                <frameName>LeftCamera</frameName>
+                <hackBaseline>0.07</hackBaseline>
+                <distortionK1>0.0</distortionK1>
+                <distortionK2>0.0</distortionK2>
+                <distortionK3>0.0</distortionK3>
+                <distortionT1>0.0</distortionT1>
+                <distortionT2>0.0</distortionT2>
+            </plugin>
+        </sensor>
+    </gazebo>
+
+    <gazebo reference="RightCamera">
+        <sensor type="camera" name="RightCamera">
+            <update_rate>30.0</update_rate>
+            <camera name="right_camera">
+                <horizontal_fov>1.06290551</horizontal_fov>
+                <image>
+                    <width>1280</width>
+                    <height>720</height>
+                    <format>R8G8B8</format>
+                </image>
+                <clip>
+                    <near>0.3</near>
+                    <far>500</far>
+                </clip>
+                <noise>
+                    <type>gaussian</type>
+                    <mean>0.0</mean>
+                    <stddev>0.007</stddev>
+                </noise>
+            </camera>
+            <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
+                <alwaysOn>true</alwaysOn>
+                <updateRate>0.0</updateRate>
+                <cameraName>nao_dcm/CameraRight</cameraName>
+                <imageTopicName>image_raw</imageTopicName>
+                <cameraInfoTopicName>camera_info</cameraInfoTopicName>
+                <frameName>RightCamera</frameName>
+                <hackBaseline>0.07</hackBaseline>
+                <distortionK1>0.0</distortionK1>
+                <distortionK2>0.0</distortionK2>
+                <distortionK3>0.0</distortionK3>
+                <distortionT1>0.0</distortionT1>
+                <distortionT2>0.0</distortionT2>
+            </plugin>
+        </sensor>
+    </gazebo>
 </robot>
\ No newline at end of file