diff --git a/.gitmodules b/.gitmodules
index 52157a0..1ba3974 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,3 +1,3 @@
 [submodule "ATI_FTSensors"]
 	path = ATI_FTSensors
-	url = ./ATI_FTSensors
+	url = https://github.com/CentroEPiaggio/ATI_FTSensors
diff --git a/model/models.urdf.xacro b/model/models.urdf.xacro
index 6132916..9fbd7c4 100644
--- a/model/models.urdf.xacro
+++ b/model/models.urdf.xacro
@@ -39,6 +39,7 @@
 				<origin xyz="0 0 0.00725" rpy="0 0 0"/>
 				<geometry>
 					<cylinder radius="0.0085" length="0.0145"/>
+<!--					<mesh filename="package://force_torque_sensor/model/meshes/nano17.stl"/>-->
 				</geometry>
 			</collision>
 	</xacro:property>
@@ -68,4 +69,4 @@
 
 
 
-</robot>
\ No newline at end of file
+</robot>