diff --git a/robots/icub/icub.urdf b/robots/icub/icub.urdf
index 60a5e8de..f9f48351 100644
--- a/robots/icub/icub.urdf
+++ b/robots/icub/icub.urdf
@@ -5,12 +5,12 @@
 <!-- =================================================================================== -->
 <!-- icub URDF model -->
 <robot name="icub" xmlns:xacro="http://ros.org/wiki/xacro">
-  <link name="world"/>
+  <!-- <link name="world"/>
   <joint name="reference" type="floating">
     <parent link="world"/>
     <child link="waist"/>
     <origin rpy="0 0 0" xyz="0 0 0"/>
-  </joint>
+  </joint> -->
   <!-- INDEX -->
   <!-- just press ctrl+f to search -->
   <!-- LINKS -->
diff --git a/robots/icub/icub_description/meshes/visual/glb/icub_chest.glb b/robots/icub/icub_description/meshes/visual/glb/icub_chest.glb
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diff --git a/robots/icub/icub_description/meshes/visual/glb/icub_head.glb b/robots/icub/icub_description/meshes/visual/glb/icub_head.glb
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diff --git a/robots/icub/icub_description/meshes/visual/glb/icub_l_ankle_1.glb b/robots/icub/icub_description/meshes/visual/glb/icub_l_ankle_1.glb
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diff --git a/robots/icub/icub_description/meshes/visual/glb/icub_l_elbow_1.glb b/robots/icub/icub_description/meshes/visual/glb/icub_l_elbow_1.glb
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diff --git a/robots/icub/icub_description/meshes/visual/glb/icub_l_foot.glb b/robots/icub/icub_description/meshes/visual/glb/icub_l_foot.glb
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diff --git a/robots/icub/icub_description/meshes/visual/glb/icub_l_hand.glb b/robots/icub/icub_description/meshes/visual/glb/icub_l_hand.glb
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diff --git a/robots/icub/icub_description/meshes/visual/glb/icub_l_hip_pitch_link.glb b/robots/icub/icub_description/meshes/visual/glb/icub_l_hip_pitch_link.glb
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diff --git a/robots/icub/icub_description/meshes/visual/glb/icub_l_hip_roll_link.glb b/robots/icub/icub_description/meshes/visual/glb/icub_l_hip_roll_link.glb
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diff --git a/robots/icub/icub_description/meshes/visual/glb/icub_l_hip_yaw_link.glb b/robots/icub/icub_description/meshes/visual/glb/icub_l_hip_yaw_link.glb
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diff --git a/robots/icub/icub_description/meshes/visual/glb/icub_l_lower_leg.glb b/robots/icub/icub_description/meshes/visual/glb/icub_l_lower_leg.glb
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diff --git a/robots/icub/icub_description/meshes/visual/glb/icub_l_shoulder_pitch_link.glb b/robots/icub/icub_description/meshes/visual/glb/icub_l_shoulder_pitch_link.glb
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diff --git a/robots/icub/icub_description/meshes/visual/glb/icub_l_shoulder_roll_link.glb b/robots/icub/icub_description/meshes/visual/glb/icub_l_shoulder_roll_link.glb
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diff --git a/robots/icub/icub_description/meshes/visual/glb/icub_l_upper_arm.glb b/robots/icub/icub_description/meshes/visual/glb/icub_l_upper_arm.glb
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diff --git a/robots/icub/icub_description/meshes/visual/glb/icub_l_wrist_1.glb b/robots/icub/icub_description/meshes/visual/glb/icub_l_wrist_1.glb
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diff --git a/robots/icub/icub_description/meshes/visual/glb/icub_lap_belt_1.glb b/robots/icub/icub_description/meshes/visual/glb/icub_lap_belt_1.glb
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diff --git a/robots/icub/icub_description/meshes/visual/glb/icub_neck_roll_link.glb b/robots/icub/icub_description/meshes/visual/glb/icub_neck_roll_link.glb
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diff --git a/robots/icub/icub_description/meshes/visual/glb/icub_r_ankle_1.glb b/robots/icub/icub_description/meshes/visual/glb/icub_r_ankle_1.glb
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diff --git a/robots/icub/icub_description/meshes/visual/glb/icub_r_elbow_1.glb b/robots/icub/icub_description/meshes/visual/glb/icub_r_elbow_1.glb
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diff --git a/robots/icub/icub_description/meshes/visual/glb/icub_r_foot.glb b/robots/icub/icub_description/meshes/visual/glb/icub_r_foot.glb
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diff --git a/robots/icub/icub_description/meshes/visual/glb/icub_r_forearm.glb b/robots/icub/icub_description/meshes/visual/glb/icub_r_forearm.glb
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diff --git a/robots/icub/icub_description/meshes/visual/glb/icub_r_hand.glb b/robots/icub/icub_description/meshes/visual/glb/icub_r_hand.glb
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diff --git a/robots/icub/icub_description/meshes/visual/glb/icub_r_hip_pitch_link.glb b/robots/icub/icub_description/meshes/visual/glb/icub_r_hip_pitch_link.glb
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diff --git a/robots/icub/icub_description/meshes/visual/glb/icub_r_hip_roll_link.glb b/robots/icub/icub_description/meshes/visual/glb/icub_r_hip_roll_link.glb
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diff --git a/robots/icub/icub_description/meshes/visual/glb/icub_r_hip_yaw_link.glb b/robots/icub/icub_description/meshes/visual/glb/icub_r_hip_yaw_link.glb
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diff --git a/robots/icub/icub_description/meshes/visual/glb/icub_r_lower_leg.glb b/robots/icub/icub_description/meshes/visual/glb/icub_r_lower_leg.glb
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diff --git a/robots/icub/icub_description/meshes/visual/glb/icub_r_shoulder_pitch_link.glb b/robots/icub/icub_description/meshes/visual/glb/icub_r_shoulder_pitch_link.glb
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diff --git a/robots/icub/icub_description/meshes/visual/glb/icub_r_shoulder_roll_link.glb b/robots/icub/icub_description/meshes/visual/glb/icub_r_shoulder_roll_link.glb
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diff --git a/robots/icub/icub_description/meshes/visual/glb/icub_r_shoulder_yaw_link.glb b/robots/icub/icub_description/meshes/visual/glb/icub_r_shoulder_yaw_link.glb
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diff --git a/robots/icub/icub_description/meshes/visual/glb/icub_r_upper_arm.glb b/robots/icub/icub_description/meshes/visual/glb/icub_r_upper_arm.glb
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diff --git a/robots/icub/icub_description/meshes/visual/glb/icub_r_upper_leg.glb b/robots/icub/icub_description/meshes/visual/glb/icub_r_upper_leg.glb
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diff --git a/robots/icub/icub_description/meshes/visual/glb/icub_r_wrist_1.glb b/robots/icub/icub_description/meshes/visual/glb/icub_r_wrist_1.glb
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diff --git a/robots/icub/icub_description/meshes/visual/glb/icub_waist.glb b/robots/icub/icub_description/meshes/visual/glb/icub_waist.glb
index 9aba8b7a..ee4ba871 100644
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diff --git a/src/examples/icub.cpp b/src/examples/icub.cpp
index 2ee6c910..10f11f11 100644
--- a/src/examples/icub.cpp
+++ b/src/examples/icub.cpp
@@ -22,10 +22,14 @@ int main()
 #endif
     simu.add_checkerboard_floor();
     simu.add_robot(robot);
-
-    // Add some visualizations
-    //    robot->set_draw_axis(imu_config.body->getName());
-    //    robot->set_draw_axis("r_ankle_2");
+    auto ghost = robot->clone_ghost();
+    ghost->skeleton()->setPosition(4, -1.57);
+    ghost->skeleton()->setPosition(5, 1.1);
+    simu.add_robot(ghost);
+#if DART_VERSION_AT_MOST(6, 12, 99)
+    // fix a bug for older versions of DART
+    robot->set_color_mode("material");
+#endif
 
     simu.set_control_freq(100); // 100 Hz
     std::vector<std::string> dofs = {
diff --git a/src/robot_dart/robots/a1.cpp b/src/robot_dart/robots/a1.cpp
index c272212b..bad17a8e 100644
--- a/src/robot_dart/robots/a1.cpp
+++ b/src/robot_dart/robots/a1.cpp
@@ -9,10 +9,13 @@ namespace robot_dart {
             set_color_mode("material");
             set_self_collision(true);
             set_position_enforced(true);
+
+            // put above ground
             set_base_pose(robot_dart::make_vector({0., 0., 0., 0., 0., 0.5}));
+
+            // standing pose
             auto names = dof_names(true, true, true);
             names = std::vector<std::string>(names.begin() + 6, names.end());
-            // standing pose
             set_positions(robot_dart::make_vector({0.0, 0.67, -1.3, -0.0, 0.67, -1.3, 0.0, 0.67, -1.3, -0.0, 0.67, -1.3}), names);
         }
     } // namespace robots
diff --git a/src/robot_dart/robots/icub.cpp b/src/robot_dart/robots/icub.cpp
index 074e6279..fbfaa03d 100644
--- a/src/robot_dart/robots/icub.cpp
+++ b/src/robot_dart/robots/icub.cpp
@@ -10,11 +10,9 @@ namespace robot_dart {
               _ft_foot_right(std::make_shared<sensor::ForceTorque>(joint("r_ankle_roll"), frequency))
         {
             set_color_mode("material");
-            set_color_mode("aspect", "right_foot");
-            set_color_mode("aspect", "left_foot");
 
             set_position_enforced(true);
-            skeleton()->setPosition(5, 0.5);
+            skeleton()->setPosition(5, 0.46);
             skeleton()->setPosition(2, 1.57);
         }