diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 2419c96..33778f6 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -62,7 +62,7 @@ jobs:
         sudo apt-get install  --assume-yes --force-yes python-lxml python-yaml python-numpy python-setuptools
         # probably python on the path return a python interpreter and the find_package(PythonInterp) in CMake another,
         # let's install both debian packages and pip packages to be sure
-        sudo pip install lxml numpy pyyaml catkin_pkg
+        sudo pip install lxml==4.9.4 numpy pyyaml catkin_pkg
         # install urdf_parser_py and save the last commit SHA1 hash
         git clone $URDF_PARSER_PY_REPOSITORY_URL
         cd urdf_parser_py
diff --git a/simmechanics/CMakeLists.txt b/simmechanics/CMakeLists.txt
index 2623982..b34e375 100644
--- a/simmechanics/CMakeLists.txt
+++ b/simmechanics/CMakeLists.txt
@@ -399,6 +399,12 @@ generate_icub_simmechanics(YARP_ROBOT_NAME iCubGenova04
                            YAML_TEMPLATE "icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in"
                            CSV_TEMPLATE "icub2_5/ICUB_2-5_BB_joint_parameters.csv.in")
 
+generate_icub_simmechanics(YARP_ROBOT_NAME iCubGenova11
+                           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"
+                           ICUB_2_7)
+
 generate_icub_simmechanics(YARP_ROBOT_NAME iCubDarmstadt01
                            SIMMECHANICS_XML "icub2_5/ICUB_2-5_BB_SIM_MODEL.xml"
                            YAML_TEMPLATE "icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in"
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index 09a7bcb..602913b 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -31,6 +31,7 @@ if( ICUB_MODEL_GENERATE_SIMMECHANICS )
     add_icub_model_test(iCubGenova02)
     add_icub_model_test(iCubGenova04)
     add_icub_model_test(iCubGenova09)
+    add_icub_model_test(iCubGenova11)
     add_icub_model_test(iCubErzelli02)
     add_icub_model_test(iCubDarmstadt01)
 endif()