diff --git a/reemc_description/meshes/arm/arm_5.dae b/reemc_description/meshes/arm/arm_5.dae
index 2937ece..45bd3e4 100644
--- a/reemc_description/meshes/arm/arm_5.dae
+++ b/reemc_description/meshes/arm/arm_5.dae
@@ -5,7 +5,7 @@
             <author>VCGLab</author>
             <authoring_tool>VCGLib | MeshLab</authoring_tool>
         </contributor>
-        <up_axis>Y_UP</up_axis>
+        <up_axis>Z_UP</up_axis>
         <created>Fri Nov 1 10:20:23 2013</created>
         <modified>Fri Nov 1 10:20:23 2013</modified>
     </asset>
diff --git a/reemc_description/meshes/base/base.dae b/reemc_description/meshes/base/base.dae
index 7fbcd1c..a49ad8c 100644
--- a/reemc_description/meshes/base/base.dae
+++ b/reemc_description/meshes/base/base.dae
@@ -5,7 +5,7 @@
             <author>VCGLab</author>
             <authoring_tool>VCGLib | MeshLab</authoring_tool>
         </contributor>
-        <up_axis>Y_UP</up_axis>
+        <up_axis>Z_UP</up_axis>
         <created>Thu Oct 31 08:53:01 2013</created>
         <modified>Thu Oct 31 08:53:01 2013</modified>
     </asset>
diff --git a/reemc_description/meshes/head/head_1.dae b/reemc_description/meshes/head/head_1.dae
index e0ea533..559c51d 100644
--- a/reemc_description/meshes/head/head_1.dae
+++ b/reemc_description/meshes/head/head_1.dae
@@ -5,7 +5,7 @@
             <author>VCGLab</author>
             <authoring_tool>VCGLib | MeshLab</authoring_tool>
         </contributor>
-        <up_axis>Y_UP</up_axis>
+        <up_axis>Z_UP</up_axis>
         <created>Fri Nov 1 13:02:23 2013</created>
         <modified>Fri Nov 1 13:02:23 2013</modified>
     </asset>
diff --git a/reemc_description/meshes/head/head_2.dae b/reemc_description/meshes/head/head_2.dae
index fb46eb2..dd16168 100644
--- a/reemc_description/meshes/head/head_2.dae
+++ b/reemc_description/meshes/head/head_2.dae
@@ -5,7 +5,7 @@
             <author>VCGLab</author>
             <authoring_tool>VCGLib | MeshLab</authoring_tool>
         </contributor>
-        <up_axis>Y_UP</up_axis>
+        <up_axis>Z_UP</up_axis>
         <created>Fri Nov 1 13:04:04 2013</created>
         <modified>Fri Nov 1 13:04:04 2013</modified>
     </asset>
diff --git a/reemc_description/meshes/leg/leg_1.dae b/reemc_description/meshes/leg/leg_1.dae
index 5921642..6b3e605 100644
--- a/reemc_description/meshes/leg/leg_1.dae
+++ b/reemc_description/meshes/leg/leg_1.dae
@@ -5,7 +5,7 @@
             <author>VCGLab</author>
             <authoring_tool>VCGLib | MeshLab</authoring_tool>
         </contributor>
-        <up_axis>Y_UP</up_axis>
+        <up_axis>Z_UP</up_axis>
         <created>Wed Oct 30 10:45:00 2013</created>
         <modified>Wed Oct 30 10:45:00 2013</modified>
     </asset>
diff --git a/reemc_description/meshes/leg/leg_3.dae b/reemc_description/meshes/leg/leg_3.dae
index 61c403f..ab3a415 100644
--- a/reemc_description/meshes/leg/leg_3.dae
+++ b/reemc_description/meshes/leg/leg_3.dae
@@ -5,7 +5,7 @@
             <author>VCGLab</author>
             <authoring_tool>VCGLib | MeshLab</authoring_tool>
         </contributor>
-        <up_axis>Y_UP</up_axis>
+        <up_axis>Z_UP</up_axis>
         <created>Wed Oct 30 10:36:07 2013</created>
         <modified>Wed Oct 30 10:36:07 2013</modified>
     </asset>
diff --git a/reemc_description/meshes/leg/leg_4.dae b/reemc_description/meshes/leg/leg_4.dae
index eaf39d9..50d3b95 100644
--- a/reemc_description/meshes/leg/leg_4.dae
+++ b/reemc_description/meshes/leg/leg_4.dae
@@ -5,7 +5,7 @@
             <author>VCGLab</author>
             <authoring_tool>VCGLib | MeshLab</authoring_tool>
         </contributor>
-        <up_axis>Y_UP</up_axis>
+        <up_axis>Z_UP</up_axis>
         <created>Wed Oct 30 10:55:01 2013</created>
         <modified>Wed Oct 30 10:55:01 2013</modified>
     </asset>
diff --git a/reemc_description/meshes/leg/leg_6.dae b/reemc_description/meshes/leg/leg_6.dae
index 25360e6..3b49b92 100644
--- a/reemc_description/meshes/leg/leg_6.dae
+++ b/reemc_description/meshes/leg/leg_6.dae
@@ -5,7 +5,7 @@
             <author>VCGLab</author>
             <authoring_tool>VCGLib | MeshLab</authoring_tool>
         </contributor>
-        <up_axis>Y_UP</up_axis>
+        <up_axis>Z_UP</up_axis>
         <created>Wed Oct 30 11:50:32 2013</created>
         <modified>Wed Oct 30 11:50:32 2013</modified>
     </asset>
diff --git a/reemc_description/meshes/sensors/xtion_pro_live/xtion_pro_live.dae b/reemc_description/meshes/sensors/xtion_pro_live/xtion_pro_live.dae
index 506f3cd..8d35c10 100644
--- a/reemc_description/meshes/sensors/xtion_pro_live/xtion_pro_live.dae
+++ b/reemc_description/meshes/sensors/xtion_pro_live/xtion_pro_live.dae
@@ -5,7 +5,7 @@
             <author>VCGLab</author>
             <authoring_tool>VCGLib | MeshLab</authoring_tool>
         </contributor>
-        <up_axis>Y_UP</up_axis>
+        <up_axis>Z_UP</up_axis>
         <created>Wed Jan 16 14:35:13 2013</created>
         <modified>Wed Jan 16 14:35:13 2013</modified>
     </asset>
diff --git a/reemc_description/meshes/torso/torso_2.dae b/reemc_description/meshes/torso/torso_2.dae
index baf0df3..064886f 100644
--- a/reemc_description/meshes/torso/torso_2.dae
+++ b/reemc_description/meshes/torso/torso_2.dae
@@ -5,7 +5,7 @@
             <author>VCGLab</author>
             <authoring_tool>VCGLib | MeshLab</authoring_tool>
         </contributor>
-        <up_axis>Y_UP</up_axis>
+        <up_axis>Z_UP</up_axis>
         <created>Fri Nov 1 11:28:39 2013</created>
         <modified>Fri Nov 1 11:28:39 2013</modified>
     </asset>