diff --git a/urdf/sample.urdf b/urdf/sample.urdf
index 0ba65ea..3a6eaa5 100644
--- a/urdf/sample.urdf
+++ b/urdf/sample.urdf
@@ -125,51 +125,50 @@
 
   <!-- Joints: main serial chain -->
   <joint name="joint_1" type="revolute">
-    <limit effort="0" lower="-2.7925" upper="2.7925" velocity="3.1415" />
-    <origin rpy="0 0 0" xyz="-0.011789 0.0278 0.26158" />
+    <limit effort="0" lower="-0.5759" upper="2.6529" velocity="3.1415" />
+    <origin rpy="0 0 0" xyz="0.011789 -0.0278 0.26158" />
     <parent link="base_link" />
     <child link="link_1" />
     <axis xyz="0 0 1" />
   </joint>
 
   <joint name="joint_2" type="revolute">
-    <limit effort="0" lower="-0.5759" upper="2.6529" velocity="3.1415" />
-    <parent link="link_1" />
+    <limit effort="0" lower="-1.270" upper="0.590" velocity="3.1415" />    <parent link="link_1" />
     <child link="link_2" />
     <axis xyz="0 -1 0" />
-    <origin rpy="0 0 0" xyz="-0.168621 0.103 0.23445" />
+    <origin rpy="0 0 0" xyz="0.168621 -0.103 0.23445" />
   </joint>
 
   <joint name="joint_3" type="revolute">
-    <limit effort="0" lower="-2.6145" upper="2.8797" velocity="3.9269" />
+    <limit effort="0" lower="-0.596" upper="0.873" velocity="3.1415" />
     <parent link="link_2" />
     <child link="link_3" />
     <axis xyz="0 -1 0" />
-    <origin rpy="0 0 0" xyz="0.35988 -0.00232 0.63457" />
+    <origin rpy="0 0 0" xyz="0.006871 0.002321 0.729516" />
   </joint>
 
   <joint name="joint_4" type="revolute">
-    <limit effort="0" lower="-3.3161" upper="3.3161" velocity="6.9813" />
+    <limit effort="0" lower="-2.338" upper="2.338" velocity="3.1415" />
     <parent link="link_3" />
     <child link="link_4" />
-    <axis xyz="0 0 1" />
-    <origin rpy="0 0 0" xyz="-0.23985 -0.101766 0.0983" />
+    <axis xyz="1 0 0" />
+    <origin rpy="0 0 0" xyz="0.240065 0.101766 0.097739" />
   </joint>
 
   <joint name="joint_5" type="revolute">
-    <limit effort="0" lower="-2.0943" upper="2.0943" velocity="5.7595" />
+    <limit effort="0" lower="-1.149" upper="1.149" velocity="3.1415" />
     <parent link="link_4" />
     <child link="link_5" />
     <axis xyz="0 1 0" />
-    <origin rpy="0 0 0" xyz="-0.867755 -0.037912 0.0021" />
+    <origin rpy="0 0 0" xyz="0.867755 -0.037912 0.0021" />
   </joint>
 
   <joint name="joint_6" type="revolute">
-    <limit effort="0" lower="-6.2831" upper="6.2831" velocity="8.3775" />
+    <limit effort="0" lower="-7.226" upper="7.226" velocity="3.1415" />
     <parent link="link_5" />
     <child link="link_6" />
-    <axis xyz="0 0 1" />
-    <origin rpy="0 0 0" xyz="-0.12086 0.039025 0.0002" />
+    <axis xyz="1 0 0" />
+    <origin rpy="0 0 0" xyz="0.098817 -0.039029 -0.000419" />
   </joint>
   
 </robot>
\ No newline at end of file
diff --git a/urdf_support/sample/1.stl b/urdf_support/sample/1.stl
index 0480b0b..9215eaa 100644
Binary files a/urdf_support/sample/1.stl and b/urdf_support/sample/1.stl differ
diff --git a/urdf_support/sample/2.stl b/urdf_support/sample/2.stl
index eebda9b..00d34f5 100644
Binary files a/urdf_support/sample/2.stl and b/urdf_support/sample/2.stl differ
diff --git a/urdf_support/sample/3.stl b/urdf_support/sample/3.stl
index 5559cfd..bc05aee 100644
Binary files a/urdf_support/sample/3.stl and b/urdf_support/sample/3.stl differ
diff --git a/urdf_support/sample/4.stl b/urdf_support/sample/4.stl
index 86f371c..e861706 100644
Binary files a/urdf_support/sample/4.stl and b/urdf_support/sample/4.stl differ
diff --git a/urdf_support/sample/5.stl b/urdf_support/sample/5.stl
index 225bdf5..6ce9bae 100644
Binary files a/urdf_support/sample/5.stl and b/urdf_support/sample/5.stl differ
diff --git a/urdf_support/sample/6.stl b/urdf_support/sample/6.stl
index 236671c..ee232eb 100644
Binary files a/urdf_support/sample/6.stl and b/urdf_support/sample/6.stl differ
diff --git a/urdf_support/sample/7.stl b/urdf_support/sample/7.stl
index 5f0603b..83201ee 100644
Binary files a/urdf_support/sample/7.stl and b/urdf_support/sample/7.stl differ