diff --git a/urdf/CMakeLists.txt b/urdf/CMakeLists.txt
index 2299a32c..9d7daf9b 100644
--- a/urdf/CMakeLists.txt
+++ b/urdf/CMakeLists.txt
@@ -42,6 +42,7 @@ else()
   file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/${BUILD_PREFIX} DESTINATION ${CMAKE_BINARY_DIR})
 endif()
 
+set(ERGOCUB_MODELS_SDF_VERSION "1.7")
 
 SUBDIRLIST(ROBOTS_NAMES ${CMAKE_CURRENT_SOURCE_DIR}/${BUILD_PREFIX}/robots)
 foreach(ROBOT_DIRNAME ${ROBOTS_NAMES})
diff --git a/urdf/feet_fixed_model.sdf.in b/urdf/feet_fixed_model.sdf.in
index 40e164b6..94bec69c 100644
--- a/urdf/feet_fixed_model.sdf.in
+++ b/urdf/feet_fixed_model.sdf.in
@@ -1,5 +1,5 @@
 <?xml version='1.0'?>
-<sdf version='@ICUB_MODELS_SDF_VERSION@'>
+<sdf version='@ERGOCUB_MODELS_SDF_VERSION@'>
   <model name="ergocub_feet_fixed">
     <include>
       <uri>model://@ROBOT_NAME@</uri>
diff --git a/urdf/fixed_model.sdf.in b/urdf/fixed_model.sdf.in
index bce8e238..a1eed775 100644
--- a/urdf/fixed_model.sdf.in
+++ b/urdf/fixed_model.sdf.in
@@ -1,5 +1,5 @@
 <?xml version='1.0'?>
-<sdf version='@ICUB_MODELS_SDF_VERSION@'>
+<sdf version='@ERGOCUB_MODELS_SDF_VERSION@'>
   <model name="ergocub_fixed">
     <include>
       <uri>model://@ROBOT_NAME@</uri>
diff --git a/urdf/model.config.in b/urdf/model.config.in
index b7e45feb..00d48f07 100644
--- a/urdf/model.config.in
+++ b/urdf/model.config.in
@@ -2,7 +2,7 @@
 <model>
     <name>@ROBOT_NAME_CONFIG@</name>
     <version>1.0</version>
-    <sdf version='@ICUB_MODELS_SDF_VERSION@'>@ROBOT_MODEL_CONFIG@</sdf>
+    <sdf version='@ERGOCUB_MODELS_SDF_VERSION@'>@ROBOT_MODEL_CONFIG@</sdf>
     <author>
         <name>Nicolo' Genesio</name>
         <email>nicolo.genesio@iit.it</email>