diff --git a/example-robot-data/Makefile b/example-robot-data/Makefile
index 1cab328103cdae03aaac29c81165e91893873f14..d11e587cec4d0b62f1ff88573b431bdd25f20565 100644
--- a/example-robot-data/Makefile
+++ b/example-robot-data/Makefile
@@ -4,7 +4,7 @@
 
 ORG=			gepetto
 NAME=			example-robot-data
-VERSION=		1.0.0
+VERSION=		2.0.0
 
 DISTNAME=		${NAME}-${VERSION}
 
@@ -19,6 +19,7 @@ LICENSE=		2-clause-bsd
 MAINTAINER=		gepetto@laas.fr
 
 CMAKE_ARGS+=		-DCMAKE_INSTALL_LIBDIR=lib
+CMAKE_ARGS+=		-DBUILD_PYTHON_INTERFACE=OFF
 
 DYNAMIC_PLIST_DIRS+=	share/doc/${NAME}
 
diff --git a/example-robot-data/PLIST b/example-robot-data/PLIST
index 7ea870a47a8b5e87d61addb2ca58c3c4d355ddec..e2cc36e87c37b17c76674b1db4a4303a08dd37cd 100644
--- a/example-robot-data/PLIST
+++ b/example-robot-data/PLIST
@@ -8,6 +8,66 @@ share/example-robot-data/hyq_description/meshes/leg/lowerleg.dae
 share/example-robot-data/hyq_description/meshes/leg/upperleg.dae
 share/example-robot-data/hyq_description/meshes/trunk/trunk.dae
 share/example-robot-data/hyq_description/robots/hyq_no_sensors.urdf
+share/example-robot-data/hyq_description/srdf/hyq.srdf
+share/example-robot-data/icub_description/meshes/upmc/collision/icub_simple_collision_chest.dae
+share/example-robot-data/icub_description/meshes/upmc/collision/icub_simple_collision_head.dae
+share/example-robot-data/icub_description/meshes/upmc/collision/icub_simple_collision_l_ankle_1.dae
+share/example-robot-data/icub_description/meshes/upmc/collision/icub_simple_collision_l_arm.dae
+share/example-robot-data/icub_description/meshes/upmc/collision/icub_simple_collision_l_foot.dae
+share/example-robot-data/icub_description/meshes/upmc/collision/icub_simple_collision_l_forearm.dae
+share/example-robot-data/icub_description/meshes/upmc/collision/icub_simple_collision_l_hand.dae
+share/example-robot-data/icub_description/meshes/upmc/collision/icub_simple_collision_l_hip_1.dae
+share/example-robot-data/icub_description/meshes/upmc/collision/icub_simple_collision_l_hip_2.dae
+share/example-robot-data/icub_description/meshes/upmc/collision/icub_simple_collision_l_shank.dae
+share/example-robot-data/icub_description/meshes/upmc/collision/icub_simple_collision_l_shoulder_1.dae
+share/example-robot-data/icub_description/meshes/upmc/collision/icub_simple_collision_l_shoulder_2.dae
+share/example-robot-data/icub_description/meshes/upmc/collision/icub_simple_collision_l_thigh.dae
+share/example-robot-data/icub_description/meshes/upmc/collision/icub_simple_collision_lap_belt_1.dae
+share/example-robot-data/icub_description/meshes/upmc/collision/icub_simple_collision_neck_1.dae
+share/example-robot-data/icub_description/meshes/upmc/collision/icub_simple_collision_neck_2.dae
+share/example-robot-data/icub_description/meshes/upmc/collision/icub_simple_collision_r_ankle_1.dae
+share/example-robot-data/icub_description/meshes/upmc/collision/icub_simple_collision_r_arm.dae
+share/example-robot-data/icub_description/meshes/upmc/collision/icub_simple_collision_r_foot.dae
+share/example-robot-data/icub_description/meshes/upmc/collision/icub_simple_collision_r_forearm.dae
+share/example-robot-data/icub_description/meshes/upmc/collision/icub_simple_collision_r_hand.dae
+share/example-robot-data/icub_description/meshes/upmc/collision/icub_simple_collision_r_hip_1.dae
+share/example-robot-data/icub_description/meshes/upmc/collision/icub_simple_collision_r_hip_2.dae
+share/example-robot-data/icub_description/meshes/upmc/collision/icub_simple_collision_r_shank.dae
+share/example-robot-data/icub_description/meshes/upmc/collision/icub_simple_collision_r_shoulder_1.dae
+share/example-robot-data/icub_description/meshes/upmc/collision/icub_simple_collision_r_shoulder_2.dae
+share/example-robot-data/icub_description/meshes/upmc/collision/icub_simple_collision_r_thigh.dae
+share/example-robot-data/icub_description/meshes/upmc/collision/icub_simple_collision_root_link.dae
+share/example-robot-data/icub_description/meshes/upmc/visual/icub_chest.dae
+share/example-robot-data/icub_description/meshes/upmc/visual/icub_head.dae
+share/example-robot-data/icub_description/meshes/upmc/visual/icub_l_ankle_1.dae
+share/example-robot-data/icub_description/meshes/upmc/visual/icub_l_arm.dae
+share/example-robot-data/icub_description/meshes/upmc/visual/icub_l_foot.dae
+share/example-robot-data/icub_description/meshes/upmc/visual/icub_l_forearm.dae
+share/example-robot-data/icub_description/meshes/upmc/visual/icub_l_hand.dae
+share/example-robot-data/icub_description/meshes/upmc/visual/icub_l_hip_1.dae
+share/example-robot-data/icub_description/meshes/upmc/visual/icub_l_hip_2.dae
+share/example-robot-data/icub_description/meshes/upmc/visual/icub_l_shank.dae
+share/example-robot-data/icub_description/meshes/upmc/visual/icub_l_shoulder_1.dae
+share/example-robot-data/icub_description/meshes/upmc/visual/icub_l_shoulder_2.dae
+share/example-robot-data/icub_description/meshes/upmc/visual/icub_l_thigh.dae
+share/example-robot-data/icub_description/meshes/upmc/visual/icub_lap_belt_1.dae
+share/example-robot-data/icub_description/meshes/upmc/visual/icub_neck_1.dae
+share/example-robot-data/icub_description/meshes/upmc/visual/icub_neck_2.dae
+share/example-robot-data/icub_description/meshes/upmc/visual/icub_r_ankle_1.dae
+share/example-robot-data/icub_description/meshes/upmc/visual/icub_r_arm.dae
+share/example-robot-data/icub_description/meshes/upmc/visual/icub_r_foot.dae
+share/example-robot-data/icub_description/meshes/upmc/visual/icub_r_forearm.dae
+share/example-robot-data/icub_description/meshes/upmc/visual/icub_r_hand.dae
+share/example-robot-data/icub_description/meshes/upmc/visual/icub_r_hip_1.dae
+share/example-robot-data/icub_description/meshes/upmc/visual/icub_r_hip_2.dae
+share/example-robot-data/icub_description/meshes/upmc/visual/icub_r_shank.dae
+share/example-robot-data/icub_description/meshes/upmc/visual/icub_r_shoulder_1.dae
+share/example-robot-data/icub_description/meshes/upmc/visual/icub_r_shoulder_2.dae
+share/example-robot-data/icub_description/meshes/upmc/visual/icub_r_thigh.dae
+share/example-robot-data/icub_description/meshes/upmc/visual/icub_root_link.dae
+share/example-robot-data/icub_description/robots/icub.urdf
+share/example-robot-data/icub_description/robots/icub_reduced.urdf
+share/example-robot-data/icub_description/srdf/icub.srdf
 share/example-robot-data/talos_data/meshes/arm/arm_1.stl
 share/example-robot-data/talos_data/meshes/arm/arm_1_collision.STL
 share/example-robot-data/talos_data/meshes/arm/arm_2.stl
@@ -59,3 +119,60 @@ share/example-robot-data/talos_data/robots/talos_left_arm.urdf
 share/example-robot-data/talos_data/robots/talos_reduced.urdf
 share/example-robot-data/talos_data/srdf/talos.srdf
 share/example-robot-data/talos_data/urdf/talos_reduced.urdf
+share/example-robot-data/tiago_description/config/collision/collision_parameters.yaml
+share/example-robot-data/tiago_description/meshes/arm/arm_1.stl
+share/example-robot-data/tiago_description/meshes/arm/arm_1_collision.dae
+share/example-robot-data/tiago_description/meshes/arm/arm_1_color.png
+share/example-robot-data/tiago_description/meshes/arm/arm_1_normals.png
+share/example-robot-data/tiago_description/meshes/arm/arm_1_specular.png
+share/example-robot-data/tiago_description/meshes/arm/arm_2.stl
+share/example-robot-data/tiago_description/meshes/arm/arm_2_collision.dae
+share/example-robot-data/tiago_description/meshes/arm/arm_2_color.png
+share/example-robot-data/tiago_description/meshes/arm/arm_2_normals.png
+share/example-robot-data/tiago_description/meshes/arm/arm_2_specular.png
+share/example-robot-data/tiago_description/meshes/arm/arm_3.stl
+share/example-robot-data/tiago_description/meshes/arm/arm_3_collision.dae
+share/example-robot-data/tiago_description/meshes/arm/arm_3_color.png
+share/example-robot-data/tiago_description/meshes/arm/arm_3_normals.png
+share/example-robot-data/tiago_description/meshes/arm/arm_3_specular.png
+share/example-robot-data/tiago_description/meshes/arm/arm_4.stl
+share/example-robot-data/tiago_description/meshes/arm/arm_4_collision.dae
+share/example-robot-data/tiago_description/meshes/arm/arm_4_collision.stl
+share/example-robot-data/tiago_description/meshes/arm/arm_4_color.png
+share/example-robot-data/tiago_description/meshes/arm/arm_4_normals.png
+share/example-robot-data/tiago_description/meshes/arm/arm_4_specular.png
+share/example-robot-data/tiago_description/meshes/arm/arm_5.stl
+share/example-robot-data/tiago_description/meshes/arm/arm_5_collision.dae
+share/example-robot-data/tiago_description/meshes/arm/arm_6.stl
+share/example-robot-data/tiago_description/meshes/arm/arm_6_collision.dae
+share/example-robot-data/tiago_description/meshes/arm/arm_6_color.png
+share/example-robot-data/tiago_description/meshes/arm/arm_6_normals.png
+share/example-robot-data/tiago_description/meshes/arm/arm_6_specular.png
+share/example-robot-data/tiago_description/meshes/head/head_1.stl
+share/example-robot-data/tiago_description/meshes/head/head_1_collision.dae
+share/example-robot-data/tiago_description/meshes/head/head_2.stl
+share/example-robot-data/tiago_description/meshes/head/head_2_collision.dae
+share/example-robot-data/tiago_description/meshes/hey5/finger_abd_collision.stl
+share/example-robot-data/tiago_description/meshes/hey5/finger_flex_collision.stl
+share/example-robot-data/tiago_description/meshes/hey5/finger_flex_tip_collision.stl
+share/example-robot-data/tiago_description/meshes/hey5/palm.stl
+share/example-robot-data/tiago_description/meshes/hey5/palm_collision.stl
+share/example-robot-data/tiago_description/meshes/hey5/thumb_abd_collision.stl
+share/example-robot-data/tiago_description/meshes/pmb2/base/base.stl
+share/example-robot-data/tiago_description/meshes/pmb2/base/base_collision.stl
+share/example-robot-data/tiago_description/meshes/pmb2/base/base_ring.stl
+share/example-robot-data/tiago_description/meshes/pmb2/objects/antenna.stl
+share/example-robot-data/tiago_description/meshes/pmb2/wheels/caster_1.stl
+share/example-robot-data/tiago_description/meshes/pmb2/wheels/caster_2.stl
+share/example-robot-data/tiago_description/meshes/pmb2/wheels/wheel.stl
+share/example-robot-data/tiago_description/meshes/sensors/xtion_pro_live/xtion_pro_live.dae
+share/example-robot-data/tiago_description/meshes/sensors/xtion_pro_live/xtion_pro_live.png
+share/example-robot-data/tiago_description/meshes/torso/torso_fix.stl
+share/example-robot-data/tiago_description/meshes/torso/torso_lift_collision.dae
+share/example-robot-data/tiago_description/meshes/torso/torso_lift_collision_core.dae
+share/example-robot-data/tiago_description/meshes/torso/torso_lift_collision_neck.dae
+share/example-robot-data/tiago_description/meshes/torso/torso_lift_collision_shoulder.dae
+share/example-robot-data/tiago_description/meshes/torso/torso_lift_with_arm.stl
+share/example-robot-data/tiago_description/meshes/torso/torso_lift_without_arm.stl
+share/example-robot-data/tiago_description/robots/tiago.urdf
+share/example-robot-data/tiago_description/robots/tiago_no_hand.urdf
diff --git a/example-robot-data/distinfo b/example-robot-data/distinfo
index 49f8d401a52a7d49e7532b11d4d8c8a486e39202..8883ba602fcd3a563f26877ef28d82002685dd90 100644
--- a/example-robot-data/distinfo
+++ b/example-robot-data/distinfo
@@ -1,3 +1,3 @@
-SHA1 (example-robot-data-1.0.0.tar.gz) = 54e39d4d8e69aa5df99ecc22b177465d38b42a68
-RMD160 (example-robot-data-1.0.0.tar.gz) = f4e7b1198baa7a96794e89e672f74466c5829d71
-Size (example-robot-data-1.0.0.tar.gz) = 4018437 bytes
+SHA1 (example-robot-data-2.0.0.tar.gz) = fb89d7fe41708eff9612d90ca1c5efd2085cede0
+RMD160 (example-robot-data-2.0.0.tar.gz) = 9ed6c240780cb1e9c9f20e3ce43fe76f62ba6223
+Size (example-robot-data-2.0.0.tar.gz) = 10801972 bytes