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I see. This means that I can maintain the meshes for the visualization but I need simple primitive shapes for collision (I can not use the convex hulls that I have generated for my humanoids). Thank you for your answer!

Actually I also have another problem related with shared library: looks like GAZEBO can not find some libraries that I have to pass to it through LD_LIBRARY_PATH. I have built and installed gazebo-2.0.0.