diff --git a/iCub/robots/iCubGazeboV3/model.urdf b/iCub/robots/iCubGazeboV3/model.urdf
index 61393c0..6b3868d 100644
--- a/iCub/robots/iCubGazeboV3/model.urdf
+++ b/iCub/robots/iCubGazeboV3/model.urdf
@@ -1515,44 +1515,6 @@
 </gazebo>
   <gazebo reference="r_wrist_yaw">
   <implicitSpringDamper>1</implicitSpringDamper>
-</gazebo>
-  <gazebo reference="r_upper_arm">
-  <selfCollide>true</selfCollide>
-  <collision>
-    <surface>
-      <contact>
-        <collide_without_contact>true</collide_without_contact>
-        <ode/>
-      </contact>
-      <friction>
-        <ode/>
-      </friction>
-    </surface>
-  </collision>
-  <sensor name="r_upper_arm_collision_sensor" type="contact">
-    <contact>
-      <collision>collision_right</collision>
-    </contact>
-  </sensor>
-</gazebo>
-  <gazebo reference="l_upper_arm">
-  <selfCollide>true</selfCollide>
-  <collision>
-    <surface>
-      <contact>
-        <collide_without_contact>true</collide_without_contact>
-        <ode/>
-      </contact>
-      <friction>
-        <ode/>
-      </friction>
-    </surface>
-  </collision>
-  <sensor name="l_upper_arm_collision_sensor" type="contact">
-    <contact>
-      <collision>collision_left</collision>
-    </contact>
-  </sensor>
 </gazebo>
   <gazebo reference="l_arm_ft_sensor">
     <sensor name="l_arm_ft_sensor" type="force_torque">
diff --git a/iCub/robots/iCubGenova09/model.urdf b/iCub/robots/iCubGenova09/model.urdf
index 9bc0c5f..60688ba 100644
--- a/iCub/robots/iCubGenova09/model.urdf
+++ b/iCub/robots/iCubGenova09/model.urdf
@@ -1515,44 +1515,6 @@
 </gazebo>
   <gazebo reference="r_wrist_yaw">
   <implicitSpringDamper>1</implicitSpringDamper>
-</gazebo>
-  <gazebo reference="r_upper_arm">
-  <selfCollide>true</selfCollide>
-  <collision>
-    <surface>
-      <contact>
-        <collide_without_contact>true</collide_without_contact>
-        <ode/>
-      </contact>
-      <friction>
-        <ode/>
-      </friction>
-    </surface>
-  </collision>
-  <sensor name="r_upper_arm_collision_sensor" type="contact">
-    <contact>
-      <collision>collision_right</collision>
-    </contact>
-  </sensor>
-</gazebo>
-  <gazebo reference="l_upper_arm">
-  <selfCollide>true</selfCollide>
-  <collision>
-    <surface>
-      <contact>
-        <collide_without_contact>true</collide_without_contact>
-        <ode/>
-      </contact>
-      <friction>
-        <ode/>
-      </friction>
-    </surface>
-  </collision>
-  <sensor name="l_upper_arm_collision_sensor" type="contact">
-    <contact>
-      <collision>collision_left</collision>
-    </contact>
-  </sensor>
 </gazebo>
   <gazebo reference="l_arm_ft_sensor">
     <sensor name="l_arm_ft_sensor" type="force_torque">