diff --git a/simmechanics/data/icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in b/simmechanics/data/icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in
index 62272a16..3df06482 100644
--- a/simmechanics/data/icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in
+++ b/simmechanics/data/icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in
@@ -924,6 +924,48 @@ sensors:
 @FT_IMU_SENSORS@
 @XSENS_IMU_SENSOR@
 
+# fix the colors for the icub
+assignedColors:
+  root_link   : [0.90, 0.90, 0.90, 1]
+  torso_1     : [0.90, 0.90, 0.90, 1]
+  torso_2     : [0.90, 0.90, 0.90, 1]
+  chest       : [0.635, 0.137, 0.114, 1]
+  l_shoulder_1: [0.90, 0.90, 0.90, 1]
+  r_shoulder_1: [0.90, 0.90, 0.90, 1]
+  l_shoulder_2: [0.90, 0.90, 0.90, 1]
+  r_shoulder_2: [0.90, 0.90, 0.90, 1]
+  r_shoulder_3: [0.90, 0.90, 0.90, 1]
+  l_shoulder_3: [0.90, 0.90, 0.90, 1]
+  l_upper_arm : [0.635, 0.137, 0.114, 1]
+  r_upper_arm : [0.635, 0.137, 0.114, 1]
+  r_hip_1     : [0.90, 0.90, 0.90, 1]
+  r_hip_2     : [0.90, 0.90, 0.90, 1]
+  r_hip_3     : [0.635, 0.137, 0.114, 1]
+  r_upper_leg : [0.635, 0.137, 0.114, 1]
+  r_lower_leg : [0.635, 0.137, 0.114, 1]
+  r_ankle_1   : [0.90, 0.90, 0.90, 1]
+  r_ankle_2   : [0.90, 0.90, 0.90, 1]
+  r_foot      : [0.635, 0.137, 0.114, 1]
+  l_hip_1     : [0.90, 0.90, 0.90, 1]
+  l_hip_2     : [0.90, 0.90, 0.90, 1]
+  l_hip_3     : [0.635, 0.137, 0.114, 1]
+  l_upper_leg : [0.635, 0.137, 0.114, 1]
+  l_lower_leg : [0.635, 0.137, 0.114, 1]
+  l_ankle_1   : [0.90, 0.90, 0.90, 1]
+  l_ankle_2   : [0.90, 0.90, 0.90, 1]
+  l_foot      : [0.635, 0.137, 0.114, 1]
+  l_elbow_1   : [0.635, 0.137, 0.114, 1]
+  r_elbow_1   : [0.635, 0.137, 0.114, 1]
+  l_forearm   : [0.635, 0.137, 0.114, 1]
+  r_forearm   : [0.635, 0.137, 0.114, 1]
+  l_wrist_1   : [0.90, 0.90, 0.90, 1]
+  r_wrist_1   : [0.90, 0.90, 0.90, 1]
+  l_hand      : [0.90, 0.90, 0.90, 1]
+  r_hand      : [0.90, 0.90, 0.90, 1]
+  neck_1      : [0.90, 0.90, 0.90, 1]
+  neck_2      : [0.90, 0.90, 0.90, 1]
+  neck_3      : [0.90, 0.90, 0.90, 1]
+  head        : [1, 1, 1, 1]
 
 # Workaround options
 @REVERSE_ROTATION_AXIS@
diff --git a/simmechanics/data/icub3/ICUB_3_all_options.yaml b/simmechanics/data/icub3/ICUB_3_all_options.yaml
index 4ab4556b..cc7e6ade 100644
--- a/simmechanics/data/icub3/ICUB_3_all_options.yaml
+++ b/simmechanics/data/icub3/ICUB_3_all_options.yaml
@@ -452,6 +452,50 @@ assignedMasses:
   neck_3      : 0.179822835
   head        : 1.831737118
 
+assignedColors:
+  root_link   : [0.70, 0.70, 0.70, 1]
+  torso_1     : [0.70, 0.70, 0.70, 1]
+  torso_2     : [0.70, 0.70, 0.70, 1]
+  chest       : [0.3, 0.3, 0.3, 1]
+  l_shoulder_1: [0.70, 0.70, 0.70, 1]
+  r_shoulder_1: [0.70, 0.70, 0.70, 1]
+  l_shoulder_2: [0.70, 0.70, 0.70, 1]
+  r_shoulder_2: [0.70, 0.70, 0.70, 1]
+  r_shoulder_3: [0.70, 0.70, 0.70, 1]
+  l_shoulder_3: [0.70, 0.70, 0.70, 1]
+  l_upper_arm : [0.3, 0.3, 0.3, 1]
+  r_upper_arm : [0.3, 0.3, 0.3, 1]
+  r_hip_1     : [0.70, 0.70, 0.70, 1]
+  r_hip_2     : [0.70, 0.70, 0.70, 1]
+  r_hip_3     : [0.3, 0.3, 0.3, 1]
+  r_upper_leg : [0.70, 0.70, 0.70, 1]
+  r_lower_leg : [0.3, 0.3, 0.3, 1]
+  r_ankle_1   : [0.70, 0.70, 0.70, 1]
+  r_ankle_2   : [0.3, 0.3, 0.3, 1]
+  r_foot_front: [1, 0.51, 0.0, 1]
+  r_foot_rear : [1, 0.51, 0.0, 1]
+  l_hip_1     : [0.70, 0.70, 0.70, 1]
+  l_hip_2     : [0.70, 0.70, 0.70, 1]
+  l_hip_3     : [0.3, 0.3, 0.3, 1]
+  l_upper_leg : [0.70, 0.70, 0.70, 1]
+  l_lower_leg : [0.3, 0.3, 0.3, 1]
+  l_ankle_1   : [0.70, 0.70, 0.70, 1]
+  l_ankle_2   : [0.3, 0.3, 0.3, 1]
+  l_foot_front: [1, 0.51, 0.0, 1]
+  l_foot_rear : [1, 0.51, 0.0, 1]
+  l_elbow_1   : [0.3, 0.3, 0.3, 1]
+  r_elbow_1   : [0.3, 0.3, 0.3, 1]
+  l_forearm   : [0.3, 0.3, 0.3, 1]
+  r_forearm   : [0.3, 0.3, 0.3, 1]
+  l_wrist_1   : [0.70, 0.70, 0.70, 1]
+  r_wrist_1   : [0.70, 0.70, 0.70, 1]
+  l_hand      : [0.70, 0.70, 0.70, 1]
+  r_hand      : [0.70, 0.70, 0.70, 1]
+  neck_1      : [0.70, 0.70, 0.70, 1]
+  neck_2      : [0.70, 0.70, 0.70, 1]
+  neck_3      : [0.70, 0.70, 0.70, 1]
+  head        : [0.70, 0.70, 0.70, 1]
+
 reverseRotationAxis:
     r_hip_yaw
     r_hip_roll
diff --git a/simmechanics/data/icub3/ICUB_3_all_options_gazebo.yaml.in b/simmechanics/data/icub3/ICUB_3_all_options_gazebo.yaml.in
index 746a7f69..39a763ca 100644
--- a/simmechanics/data/icub3/ICUB_3_all_options_gazebo.yaml.in
+++ b/simmechanics/data/icub3/ICUB_3_all_options_gazebo.yaml.in
@@ -540,6 +540,50 @@ mirroredInertia:
   simmetryReferenceLink: root_link
   symmetryPlane: xz
 
+assignedColors:
+  root_link   : [0.90, 0.90, 0.90, 1]
+  torso_1     : [0.90, 0.90, 0.90, 1]
+  torso_2     : [0.90, 0.90, 0.90, 1]
+  chest       : [0.3, 0.3, 0.3, 1]
+  l_shoulder_1: [0.90, 0.90, 0.90, 1]
+  r_shoulder_1: [0.90, 0.90, 0.90, 1]
+  l_shoulder_2: [0.90, 0.90, 0.90, 1]
+  r_shoulder_2: [0.90, 0.90, 0.90, 1]
+  r_shoulder_3: [0.90, 0.90, 0.90, 1]
+  l_shoulder_3: [0.90, 0.90, 0.90, 1]
+  l_upper_arm : [0.3, 0.3, 0.3, 1]
+  r_upper_arm : [0.3, 0.3, 0.3, 1]
+  r_hip_1     : [0.90, 0.90, 0.90, 1]
+  r_hip_2     : [0.90, 0.90, 0.90, 1]
+  r_hip_3     : [0.3, 0.3, 0.3, 1]
+  r_upper_leg : [0.90, 0.90, 0.90, 1]
+  r_lower_leg : [0.3, 0.3, 0.3, 1]
+  r_ankle_1   : [0.90, 0.90, 0.90, 1]
+  r_ankle_2   : [0.3, 0.3, 0.3, 1]
+  r_foot_front: [1, 0.51, 0.0, 1]
+  r_foot_rear : [1, 0.51, 0.0, 1]
+  l_hip_1     : [0.90, 0.90, 0.90, 1]
+  l_hip_2     : [0.90, 0.90, 0.90, 1]
+  l_hip_3     : [0.3, 0.3, 0.3, 1]
+  l_upper_leg : [0.90, 0.90, 0.90, 1]
+  l_lower_leg : [0.3, 0.3, 0.3, 1]
+  l_ankle_1   : [0.90, 0.90, 0.90, 1]
+  l_ankle_2   : [0.3, 0.3, 0.3, 1]
+  l_foot_front: [1, 0.51, 0.0, 1]
+  l_foot_rear : [1, 0.51, 0.0, 1]
+  l_elbow_1   : [0.3, 0.3, 0.3, 1]
+  r_elbow_1   : [0.3, 0.3, 0.3, 1]
+  l_forearm   : [0.3, 0.3, 0.3, 1]
+  r_forearm   : [0.3, 0.3, 0.3, 1]
+  l_wrist_1   : [0.90, 0.90, 0.90, 1]
+  r_wrist_1   : [0.90, 0.90, 0.90, 1]
+  l_hand      : [0.90, 0.90, 0.90, 1]
+  r_hand      : [0.90, 0.90, 0.90, 1]
+  neck_1      : [0.90, 0.90, 0.90, 1]
+  neck_2      : [0.90, 0.90, 0.90, 1]
+  neck_3      : [0.90, 0.90, 0.90, 1]
+  head        : [0.9, 0.9, 0.9, 1]
+
 reverseRotationAxis:
     r_hip_yaw
     r_hip_roll