From f1b9c2e05740a840efc1cfd8a1fd8712c390f166 Mon Sep 17 00:00:00 2001
From: Konstantinos Chatzilygeroudis <costashatz@gmail.com>
Date: Thu, 22 May 2014 10:28:30 +0300
Subject: [PATCH] Nao Helmet Added >3D Printed helmet for accessories on top of
 Nao's head added >Designed for adding cameras (in order to make stereo vision
 possible), but maybe can be used for other accessories too

---
 .../config/nao_robot_v4_H21.srdf              |  91 ++++++++++++---
 .../config/nao_robot_v4_H25.srdf              |  91 ++++++++++++---
 .../nao_dcm_description/meshes/camera.dae     | 110 ++++++++++++++++++
 .../nao_dcm_description/meshes/helmet.dae     | 110 ++++++++++++++++++
 .../urdf/modules/helmet.xacro                 |  11 ++
 .../urdf/modules/helmet_cameras.xacro         |  68 +++++++++++
 .../urdf/nao_dcm_H21.xacro                    |   7 ++
 .../urdf/nao_dcm_H25.xacro                    |   6 +
 .../urdf/nao_dcm_visuals_collisions.xacro     |  17 +++
 9 files changed, 475 insertions(+), 36 deletions(-)
 create mode 100644 nao_dcm_common/nao_dcm_description/meshes/camera.dae
 create mode 100644 nao_dcm_common/nao_dcm_description/meshes/helmet.dae
 create mode 100644 nao_dcm_common/nao_dcm_description/urdf/modules/helmet.xacro
 create mode 100644 nao_dcm_common/nao_dcm_description/urdf/modules/helmet_cameras.xacro

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 43adeb5..10f9392 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
@@ -89,50 +89,67 @@
     <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" />
     <disable_collisions link1="LHip" link2="RHipYaw" reason="Never" />
+    <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="r_ankle" reason="Never" />
-    <disable_collisions link1="LHip" link2="torso" 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="RElbowDummy" reason="Never" />
-    <disable_collisions link1="LHipDummy" link2="RHip" reason="Never" />
-    <disable_collisions link1="LHipDummy" link2="RHipYaw" 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="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" />
     <disable_collisions link1="LHipYaw" link2="RHipYaw" reason="Adjacent" />
+    <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="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="l_sole" reason="Default" />
     <disable_collisions link1="LKnee" link2="neck" reason="Never" />
-    <disable_collisions link1="LKnee" link2="r_wrist" reason="Never" />
-    <disable_collisions link1="LKnee" link2="torso" 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" />
@@ -140,6 +157,9 @@
     <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" />
@@ -155,28 +175,42 @@
     <disable_collisions link1="LShoulderDummy" link2="RKnee" reason="Never" />
     <disable_collisions link1="LShoulderDummy" link2="RShoulder" reason="Never" />
     <disable_collisions link1="LShoulderDummy" link2="RShoulderDummy" reason="Never" />
+    <disable_collisions link1="LShoulderDummy" link2="gaze" reason="Default" />
     <disable_collisions link1="LShoulderDummy" link2="l_ankle" reason="Never" />
-    <disable_collisions link1="LShoulderDummy" link2="l_sole" reason="Never" />
     <disable_collisions link1="LShoulderDummy" link2="l_wrist" reason="Never" />
     <disable_collisions link1="LShoulderDummy" link2="neck" 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="r_wrist" 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_ankle" reason="Never" />
     <disable_collisions link1="RElbowDummy" link2="r_wrist" reason="Adjacent" />
     <disable_collisions link1="RHip" link2="RHipDummy" reason="Adjacent" />
     <disable_collisions link1="RHip" link2="RHipYaw" reason="Adjacent" />
     <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="r_ankle" reason="Never" />
@@ -184,22 +218,32 @@
     <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="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="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="r_ankle" reason="Adjacent" />
-    <disable_collisions link1="RKnee" link2="r_sole" reason="Default" />
-    <disable_collisions link1="RKnee" link2="torso" reason="Never" />
     <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" />
@@ -213,25 +257,36 @@
     <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="r_sole" reason="Never" />
     <disable_collisions link1="RShoulderDummy" link2="r_wrist" reason="Never" />
-    <disable_collisions link1="RShoulderDummy" link2="torso" reason="Default" />
+    <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="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="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="r_wrist" reason="Never" />
-    <disable_collisions link1="l_ankle" link2="torso" 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="torso" 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="l_wrist" link2="r_wrist" reason="Default" />
     <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" />
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 5b61092..92a01aa 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
@@ -120,50 +120,67 @@
     <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" />
     <disable_collisions link1="LHip" link2="RHipYaw" reason="Never" />
+    <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="r_ankle" reason="Never" />
-    <disable_collisions link1="LHip" link2="torso" 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="RElbowDummy" reason="Never" />
-    <disable_collisions link1="LHipDummy" link2="RHip" reason="Never" />
-    <disable_collisions link1="LHipDummy" link2="RHipYaw" 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="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" />
     <disable_collisions link1="LHipYaw" link2="RHipYaw" reason="Adjacent" />
+    <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="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="l_sole" reason="Default" />
     <disable_collisions link1="LKnee" link2="neck" reason="Never" />
-    <disable_collisions link1="LKnee" link2="r_wrist" reason="Never" />
-    <disable_collisions link1="LKnee" link2="torso" 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" />
@@ -171,6 +188,9 @@
     <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" />
@@ -186,28 +206,42 @@
     <disable_collisions link1="LShoulderDummy" link2="RKnee" reason="Never" />
     <disable_collisions link1="LShoulderDummy" link2="RShoulder" reason="Never" />
     <disable_collisions link1="LShoulderDummy" link2="RShoulderDummy" reason="Never" />
+    <disable_collisions link1="LShoulderDummy" link2="gaze" reason="Default" />
     <disable_collisions link1="LShoulderDummy" link2="l_ankle" reason="Never" />
-    <disable_collisions link1="LShoulderDummy" link2="l_sole" reason="Never" />
     <disable_collisions link1="LShoulderDummy" link2="l_wrist" reason="Never" />
     <disable_collisions link1="LShoulderDummy" link2="neck" 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="r_wrist" 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_ankle" reason="Never" />
     <disable_collisions link1="RElbowDummy" link2="r_wrist" reason="Adjacent" />
     <disable_collisions link1="RHip" link2="RHipDummy" reason="Adjacent" />
     <disable_collisions link1="RHip" link2="RHipYaw" reason="Adjacent" />
     <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="r_ankle" reason="Never" />
@@ -215,22 +249,32 @@
     <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="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="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="r_ankle" reason="Adjacent" />
-    <disable_collisions link1="RKnee" link2="r_sole" reason="Default" />
-    <disable_collisions link1="RKnee" link2="torso" reason="Never" />
     <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" />
@@ -244,25 +288,36 @@
     <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="r_sole" reason="Never" />
     <disable_collisions link1="RShoulderDummy" link2="r_wrist" reason="Never" />
-    <disable_collisions link1="RShoulderDummy" link2="torso" reason="Default" />
+    <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="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="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="r_wrist" reason="Never" />
-    <disable_collisions link1="l_ankle" link2="torso" 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="torso" 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="l_wrist" link2="r_wrist" reason="Default" />
     <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" />
diff --git a/nao_dcm_common/nao_dcm_description/meshes/camera.dae b/nao_dcm_common/nao_dcm_description/meshes/camera.dae
new file mode 100644
index 0000000..dfcf002
--- /dev/null
+++ b/nao_dcm_common/nao_dcm_description/meshes/camera.dae
@@ -0,0 +1,110 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.69.10 commit date:2014-01-23, commit time:03:58, hash:3b71cab</authoring_tool>
+    </contributor>
+    <created>2014-05-21T22:31:10</created>
+    <modified>2014-05-21T22:31:10</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_effects>
+    <effect id="None-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.64 0.64 0.64 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.8 0.8 0.8 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">1</float>
+            </shininess>
+            <transparency>
+              <float sid="transparency">1</float>
+            </transparency>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+        <extra>
+          <technique profile="GOOGLEEARTH">
+            <double_sided>1</double_sided>
+          </technique>
+        </extra>
+      </profile_COMMON>
+      <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="None-material" name="None">
+      <instance_effect url="#None-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="camera-mesh" name="camera">
+      <mesh>
+        <source id="camera-mesh-positions">
+          <float_array id="camera-mesh-positions-array" count="36480">-7.174412 25.31962 -22.67171 -7.174412 24.04962 -22.67171 -7.690378 24.04962 -21.98417 -7.690378 25.31962 -21.98417 -8.141024 24.04962 -21.25214 -8.141024 25.31962 -21.25214 -8.522533 24.04962 -20.48183 -8.522533 25.31962 -20.48183 -8.831683 24.04962 -19.67972 -8.831683 25.31962 -19.67972 -9.065863 24.04962 -18.85262 -9.065863 25.31962 -18.85262 -9.22309 24.04962 -18.0075 -9.22309 25.31962 -18.0075 -9.302037 24.04962 -17.15152 -9.302037 25.31962 -17.15152 -9.302037 24.04962 -16.29191 -9.302037 25.31962 -16.29191 -9.22309 24.04962 -15.43592 -9.22309 25.31962 -15.43592 -9.065863 24.04962 -14.5908 -9.065863 25.31962 -14.5908 -8.831683 24.04962 -13.7637 -8.831683 25.31962 -13.7637 -8.522533 24.04962 -12.9616 -8.522533 25.31962 -12.9616 -8.141024 24.04962 -12.19128 -8.141024 25.31962 -12.19128 -7.690378 24.04962 -11.45926 -7.690378 25.31962 -11.45926 -7.174412 24.04962 -10.77171 -7.174412 25.31962 -10.77171 7.250568 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3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 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3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
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+        </polylist>
+      </mesh>
+      <extra><technique profile="MAYA"><double_sided>1</double_sided></technique></extra>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="camera" name="camera" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 -4.37114e-8 -1 0 0 1 -4.37114e-8 0 0 0 0 1</matrix>
+        <instance_geometry url="#camera-mesh">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="None-material" target="#None-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/nao_dcm_common/nao_dcm_description/meshes/helmet.dae b/nao_dcm_common/nao_dcm_description/meshes/helmet.dae
new file mode 100644
index 0000000..4c4fca3
--- /dev/null
+++ b/nao_dcm_common/nao_dcm_description/meshes/helmet.dae
@@ -0,0 +1,110 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.69.10 commit date:2014-01-23, commit time:03:58, hash:3b71cab</authoring_tool>
+    </contributor>
+    <created>2014-05-21T22:31:29</created>
+    <modified>2014-05-21T22:31:29</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_effects>
+    <effect id="None_001-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.64 0.64 0.64 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.8 0.8 0.8 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">1</float>
+            </shininess>
+            <transparency>
+              <float sid="transparency">1</float>
+            </transparency>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+        <extra>
+          <technique profile="GOOGLEEARTH">
+            <double_sided>1</double_sided>
+          </technique>
+        </extra>
+      </profile_COMMON>
+      <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="None_001-material" name="None_001">
+      <instance_effect url="#None_001-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Helmet-mesh" name="Helmet">
+      <mesh>
+        <source id="Helmet-mesh-positions">
+          <float_array id="Helmet-mesh-positions-array" count="30714">-5.97031 -18.97023 64.13745 -6.618511 -19.19475 64.13745 -7.866657 -17.79588 63.19472 -6.754192 -19.25304 64.13736 -7.966 -18.38503 63.46366 -8.210052 -19.87853 64.13642 -8.214501 -19.88045 64.13642 13.04687 -19.54288 63.83938 13.1403 -20.15368 64.09233 11.76128 -19.51244 64.09822 12.23601 -17.7733 63.19476 12.80875 -18.01955 63.19475 11.67928 -19.47431 64.09857 11.52959 -17.524 63.19477 10.89825 -19.17303 64.10168 11.46718 -17.50196 63.19477 10.29108 -18.93882 64.10411 10.02997 -16.99475 63.19479 10.16422 -18.88989 64.10461 9.563172 -16.83001 63.19479 8.785828 -18.46293 64.10961 9.148903 -16.73525 63.19479 8.682236 -18.43085 64.10998 8.614266 -18.40979 64.11023 8.560463 -16.60065 63.19478 7.250435 -18.08605 64.11467 7.073563 -16.26052 63.19476 7.026245 -18.03284 64.1154 6.537331 -16.13786 63.19475 6.21907 -17.89745 64.11775 6.512154 -16.13501 63.19475 5.692169 -17.80908 64.11929 5.568748 -16.02812 63.19473 5.410141 -17.76178 64.12011 4.118675 -17.63526 64.1235 4.052315 -15.8563 63.1947 3.902359 -17.61407 64.12406 4.024582 -15.85316 63.1947 3.771126 -15.82444 63.1947 3.694717 -17.59373 64.12461 3.729263 -15.82396 63.1947 3.626472 -17.59189 64.12477 2.539146 -17.56269 64.12726 2.52861 -15.80998 63.1947 1.990658 -17.54796 64.12851 1.355263 -15.79633 63.19469 1.414913 -17.5738 64.12963 1.277969 -15.79542 63.19469 0.957447 -17.59433 64.1305 1.004108 -15.82172 63.1947 -0.515553 -15.96765 63.19471 0.229427 -17.62701 64.1319 -0.620338 -17.72703 64.1332 -1.427269 -16.05519 63.19472 -1.181908 -17.79313 64.13407 -1.822441 -16.09315 63.19472 -1.525082 -17.83353 64.1346 -2.030922 -16.13873 63.19472 -2.187557 -17.96034 64.13532 -3.522839 -16.46494 63.19474 -3.257973 -18.16526 64.13648 -3.881878 -16.54344 63.19474 -6.55077 -17.33747 63.19473 -6.453217 -17.30349 63.19474 -5.261463 -18.72471 64.13746 -5.011387 -16.8012 63.19475 -4.955685 -18.61879 64.13746 -4.928223 -16.77223 63.19475 -3.737015 -18.29323 64.13676 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5617 20408 5614 20408 6140 20409 6139 20409 5861 20409 5861 20410 6139 20410 6138 20410 5861 20411 6138 20411 6137 20411 6051 20412 6187 20412 6050 20412 6050 20413 6187 20413 5861 20413 6050 20414 5861 20414 6048 20414 6048 20415 5861 20415 6137 20415 6180 20416 6185 20416 5598 20416 5598 20417 6185 20417 6186 20417 5598 20418 6186 20418 6227 20418 6227 20419 6186 20419 6187 20419 6227 20420 6187 20420 6234 20420 6234 20421 6187 20421 6051 20421 6180 20422 5598 20422 5228 20422 5228 20423 5598 20423 5596 20423 5228 20424 5596 20424 5225 20424 5225 20425 5596 20425 5595 20425 5225 20426 5595 20426 5382 20426 5382 20427 5595 20427 5602 20427 5382 20428 5602 20428 5378 20428 5378 20429 5602 20429 5601 20429 5378 20430 5601 20430 5379 20430 5379 20431 5601 20431 5605 20431 5379 20432 5605 20432 5608 20432 5209 20433 5208 20433 5593 20433 5593 20434 5208 20434 5374 20434 5593 20435 5374 20435 5609 20435 5609 20436 5374 20436 5373 20436 5609 20437 5373 20437 5611 20437 5611 20438 5373 20438 5371 20438 5611 20439 5371 20439 5370 20439 5137 20440 5361 20440 5138 20440 5138 20441 5361 20441 5365 20441 5138 20442 5365 20442 5140 20442 5140 20443 5365 20443 5614 20443 5140 20444 5614 20444 5142 20444 5856 20445 6258 20445 5858 20445 5858 20446 6258 20446 6259 20446 5858 20447 6259 20447 5859 20447 5859 20448 6259 20448 6262 20448 5856 20449 5855 20449 6258 20449 6258 20450 5855 20450 5854 20450 6258 20451 5854 20451 5999 20451 5999 20452 5854 20452 5853 20452 5999 20453 5853 20453 5851 20453 6132 20454 6140 20454 6261 20454 6261 20455 6140 20455 5861 20455 6261 20456 5861 20456 6260 20456 6260 20457 5861 20457 5863 20457 6260 20458 5863 20458 6262 20458 6262 20459 5863 20459 5864 20459 6262 20460 5864 20460 5859 20460 10234 20461 10235 20461 5784 20461 5784 20462 10235 20462 5786 20462 10236 20463 10237 20463 10234 20463 10234 20464 10237 20464 10235 20464 6205 20465 5961 20465 10237 20465 10236 20466 5862 20466 6257 20466 10236 20467 6257 20467 10237 20467 10237 20468 6257 20468 6441 20468 10237 20469 6441 20469 6205 20469 5954 20470 10237 20470 5958 20470 5958 20471 10237 20471 5961 20471 5954 20472 5949 20472 10237 20472 10237 20473 5949 20473 5947 20473 10237 20474 5947 20474 5944 20474 5786 20475 10235 20475 5838 20475 5838 20476 10235 20476 10237 20476 5838 20477 10237 20477 5940 20477 5940 20478 10237 20478 5944 20478 5852 20479 5857 20479 10236 20479 10236 20480 5857 20480 5860 20480 10236 20481 5860 20481 5862 20481 10234 20482 5784 20482 10236 20482 10236 20483 5784 20483 5783 20483 10236 20484 5783 20484 5841 20484 5841 20485 5845 20485 10236 20485 10236 20486 5845 20486 5850 20486 10236 20487 5850 20487 5852 20487</p>
+        </polylist>
+      </mesh>
+      <extra><technique profile="MAYA"><double_sided>1</double_sided></technique></extra>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Helmet" name="Helmet" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 -4.37114e-8 -1 0 0 1 -4.37114e-8 0 0 0 0 1</matrix>
+        <instance_geometry url="#Helmet-mesh">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="None_001-material" target="#None_001-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/nao_dcm_common/nao_dcm_description/urdf/modules/helmet.xacro b/nao_dcm_common/nao_dcm_description/urdf/modules/helmet.xacro
new file mode 100644
index 0000000..37c4a03
--- /dev/null
+++ b/nao_dcm_common/nao_dcm_description/urdf/modules/helmet.xacro
@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+	<joint name="head-helmet" type="fixed">
+        <parent link="gaze"/>
+        <child link="helmet"/>
+        <origin xyz="0 0 0.0975" rpy="0 0 0"/>
+    </joint>
+    <link name="helmet">
+        <xacro:visuals_collisions_helmet/>
+    </link>
+</robot>
\ No newline at end of file
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
new file mode 100644
index 0000000..bb762d3
--- /dev/null
+++ b/nao_dcm_common/nao_dcm_description/urdf/modules/helmet_cameras.xacro
@@ -0,0 +1,68 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+	<!-- XACRO MACROS FOR VISUALS AND COLLISIONS -->
+    <xacro:macro name="visuals_collisions_left_camera" params="">
+    	<xacro:if value="${helmet_cameras_viz}">
+			<visual>
+				<origin xyz="0 0 0" rpy="${PI_2} 0 ${PI_2}"/>
+				<geometry>
+					<mesh filename="package://nao_dcm_description/meshes/camera.dae"  scale="${scale} ${scale} ${scale}"/>
+				</geometry>
+				<material name="LightGrey"/>
+			</visual>
+			<collision>
+				<origin xyz="0 0 0" rpy="${PI_2} 0 ${PI_2}"/>
+				<geometry>
+					<mesh filename="package://nao_dcm_description/meshes/camera.dae"  scale="${scale} ${scale} ${scale}"/>
+				</geometry>
+				<material name="LightGrey"/>
+			</collision>
+		</xacro:if>
+	</xacro:macro>
+
+	<xacro:macro name="visuals_collisions_right_camera" params="">
+		<xacro:if value="${helmet_cameras_viz}">
+			<visual>
+				<origin xyz="0 0 0" rpy="${PI_2} 0 ${PI_2}"/>
+				<geometry>
+					<mesh filename="package://nao_dcm_description/meshes/camera.dae"  scale="${scale} ${scale} ${scale}"/>
+				</geometry>
+				<material name="LightGrey"/>
+			</visual>
+			<collision>
+				<origin xyz="0 0 0" rpy="${PI_2} 0 ${PI_2}"/>
+				<geometry>
+					<mesh filename="package://nao_dcm_description/meshes/camera.dae"  scale="${scale} ${scale} ${scale}"/>
+				</geometry>
+				<material name="LightGrey"/>
+			</collision>
+		</xacro:if>
+	</xacro:macro>
+	<!-- HELMET CAMERAS JOINTS -->
+	<joint name="helmet-left-camera" type="fixed">
+        <parent link="helmet"/>
+        <child link="LeftCamera"/>
+        <origin xyz="0 ${0.10785/2} ${0.12496-0.0975}" rpy="0 0 0"/>
+    </joint>
+    <link name="LeftCamera">
+        <xacro:visuals_collisions_left_camera/>
+        <inertial> <!-- sample values for my cameras -->
+            <mass value="0.07" />
+            <origin xyz="0 0 0"/>
+            <inertia ixx="1e-9" ixy="0" ixz="0" iyy="1e-9" iyz="0" izz="1e-9" />
+        </inertial>
+    </link>
+    <joint name="helmet-right-camera" type="fixed">
+        <parent link="helmet"/>
+        <child link="RightCamera"/>
+        <origin xyz="0 -${0.10785/2} ${0.12496-0.0975}" rpy="0 0 0"/>
+    </joint>
+    <link name="RightCamera">
+        <xacro:visuals_collisions_right_camera/>
+        <inertial> <!-- sample values for my cameras -->
+            <mass value="0.07" />
+            <origin xyz="0 0 0"/>
+            <inertia ixx="1e-9" ixy="0" ixz="0" iyy="1e-9" iyz="0" izz="1e-9" />
+        </inertial>
+    </link>
+</robot>
\ No newline at end of file
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 5a061ad..682153e 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
@@ -7,6 +7,8 @@
 	<xacro:property name="scale" value="0.001" />
 	<xacro:property name="H25" value="false" />
 	<xacro:property name="nao_meshes" value="true" />
+	<xacro:property name="use_helmet" value="true" />
+	<xacro:property name="helmet_cameras_viz" value="false" />
 
 	<xacro:include filename="$(find nao_dcm_description)/urdf/nao_dcm_visuals_collisions.xacro" />
 	<xacro:include filename="$(find nao_dcm_description)/urdf/nao_dcm_gazebo.xacro" />
@@ -21,4 +23,9 @@
 	<xacro:include filename="$(find nao_dcm_description)/urdf/modules/sonars.xacro" />
 	<xacro:include filename="$(find nao_dcm_description)/urdf/modules/cameras.xacro" />
 
+	<xacro:if value="${use_helmet}">
+		<xacro:include filename="$(find nao_dcm_description)/urdf/modules/helmet.xacro" />
+		<xacro:include filename="$(find nao_dcm_description)/urdf/modules/helmet_cameras.xacro" />
+	</xacro:if>
+
 </robot>
\ No newline at end of file
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 093f5d0..966491d 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
@@ -7,6 +7,7 @@
 	<xacro:property name="scale" value="0.001" />
 	<xacro:property name="H25" value="true" />
 	<xacro:property name="nao_meshes" value="true" />
+	<xacro:property name="use_helmet" value="true" />
 
 	<xacro:include filename="$(find nao_dcm_description)/urdf/nao_dcm_visuals_collisions.xacro" />
 	<xacro:include filename="$(find nao_dcm_description)/urdf/nao_dcm_gazebo.xacro" />
@@ -21,4 +22,9 @@
 	<xacro:include filename="$(find nao_dcm_description)/urdf/modules/sonars.xacro" />
 	<xacro:include filename="$(find nao_dcm_description)/urdf/modules/cameras.xacro" />
 
+	<xacro:if value="${use_helmet}">
+		<xacro:include filename="$(find nao_dcm_description)/urdf/modules/helmet.xacro" />
+		<xacro:include filename="$(find nao_dcm_description)/urdf/modules/helmet_cameras.xacro" />
+	</xacro:if>
+
 </robot>
\ No newline at end of file
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 b9837f6..d9b5a3e 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
@@ -27,6 +27,23 @@
 
     <!-- XACRO MACROS FOR VISUALS AND COLLISIONS -->
 
+    <xacro:macro name="visuals_collisions_helmet" params="">
+		<visual>
+			<origin xyz="0 0 0" rpy="0 -0 0"/>
+			<geometry>
+				<mesh filename="package://nao_dcm_description/meshes/helmet.dae"  scale="${scale} ${scale} ${scale}"/>
+			</geometry>
+			<material name="LightGrey"/>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0" rpy="0 -0 0"/>
+			<geometry>
+				<mesh filename="package://nao_dcm_description/meshes/helmet.dae"  scale="${scale} ${scale} ${scale}"/>
+			</geometry>
+			<material name="LightGrey"/>
+		</collision>
+	</xacro:macro>
+
 	<xacro:macro name="visuals_collisions_torso" params="">
 		<xacro:unless value="${nao_meshes}">
 			<visual>