diff --git a/README.md b/README.md
index 6cd3f8a..6962f22 100644
--- a/README.md
+++ b/README.md
@@ -35,6 +35,7 @@ Both generation pipelines are still in `a work in progress` state, and several i
 |  `YARP_ROBOT_NAME`   | Pipeline     | Notes                           |
 |:--------------------:|:------------:|:-------------------------------:|
 | `iCubDarmstadt01`    | simmechanics | v2.5 without backpack           |
+| `iCubErzelli02`      | simmechanics | v2.5   with backpack            |
 | `iCubGazeboV2_5`     | simmechanics | v2.5 with backpack, joint damping, and inertias of some links modified to run smoothly in Gazebo Classic (ODE). |
 | `iCubGazeboV2_5_plus`| simmechanics | v2.5 + [KIT_007](https://icub-tech-iit.github.io/documentation/upgrade_kits/ankle_for_stairs/support/) with backpack, joint damping, and inertias of some links modified to run smoothly in Gazebo Classic (ODE). |
 | `iCubGazeboV2_6`     | simmechanics | v2.6 with  joint damping, and inertias of some links modified to run smoothly in Gazebo Classic (ODE). |
diff --git a/simmechanics/CMakeLists.txt b/simmechanics/CMakeLists.txt
index e31202e..d8bb49a 100644
--- a/simmechanics/CMakeLists.txt
+++ b/simmechanics/CMakeLists.txt
@@ -408,6 +408,11 @@ generate_icub_simmechanics(YARP_ROBOT_NAME iCubGenova09
                            SIMMECHANICS_XML "icub3/ICUB3_ALL_SIM_MODEL.xml"
                            YAML_TEMPLATE "icub3/ICUB_3_all_options.yaml"
                            CSV_TEMPLATE "icub3/ICUB_3_joint_all_parameters.csv")
+generate_icub_simmechanics(YARP_ROBOT_NAME iCubErzelli02
+                           SIMMECHANICS_XML "icub2_5/ICUB_2-5_BB_SIM_MODEL.xml"
+                           YAML_TEMPLATE "icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in"
+                           CSV_TEMPLATE "icub2_5/ICUB_2-5_BB_joint_parameters.csv.in")
+
 
 add_custom_target(generate-models-simmechanics
                   ALL
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index 67c1db8..a5af22b 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -31,5 +31,6 @@ if( ICUB_MODEL_GENERATE_SIMMECHANICS )
     add_icub_model_test(iCubGenova02)
     add_icub_model_test(iCubGenova04)
     add_icub_model_test(iCubGenova09)
+    add_icub_model_test(iCubErzelli02)
     add_icub_model_test(iCubDarmstadt01)
 endif()