diff --git a/urdf/sample.urdf b/urdf/sample.urdf
index 27ec222..0ba65ea 100644
--- a/urdf/sample.urdf
+++ b/urdf/sample.urdf
@@ -1,152 +1,175 @@
 <?xml version="1.0"?>
 <robot name="sample_robot">
-  <!-- links: main serial chain -->
+
+  <!-- Materials -->
+  <material name="grey">
+    <color rgba="0.0 0 0 1.0" />
+  </material>
+  <material name="red">
+    <color rgba="1.0 0.0 0.0 1.0" />
+  </material>
+  <material name="blue">
+    <color rgba="0 0.0 1.0 1.0" />
+  </material>
+  <material name="lightblue">
+    <color rgba="0.0 0.22 1.0 1.0" />
+  </material>
+  <material name="yellow">
+    <color rgba="0.96 0.76 0.13 1.0" />
+  </material>
+  <material name="orange">
+    <color rgba="1.0 0.5 0.0 1.0" />
+  </material>
+  <material name="black">
+    <color rgba="0.15 0.15 0.15 1.0" />
+  </material>
+
+  <!-- Links: main serial chain -->
   <link name="base_link">
     <inertial>
       <mass value="1.0" />
       <inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
     </inertial>
     <visual>
-      <origin rpy="0 0 0" xyz="0 0 -0.2" />
+      <origin rpy="0 0 0" xyz="0 0 0" />
       <geometry>
-        <box size="0.2 0.2 0.2" />
+        <mesh filename="../urdf_support/sample/1.stl"/>
       </geometry>
-      <material name="grey">
-        <color rgba="0.0 0 0 1.0" />
-      </material>
+      <material name="grey"/>
     </visual>
   </link>
+  
   <link name="link_1">
     <inertial>
       <mass value="1.0" />
       <inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
     </inertial>
     <visual>
-      <origin rpy="0 0 0" xyz="0 0 0.2473" />
+      <origin rpy="0 0 0" xyz="0 0 0.0" />
       <geometry>
-        <box size="0.1 0.1 0.4946" />
+        <mesh filename="../urdf_support/sample/2.stl"/>
       </geometry>
-      <material name="red">
-        <color rgba="1.0 0.0 0.0 1.0" />
-      </material>
+      <material name="red"/>
     </visual>
   </link>
+  
   <link name="link_2">
     <inertial>
       <mass value="1.0" />
       <inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
     </inertial>
     <visual>
-      <origin rpy="0 0 0" xyz="0 0 0.3649605" />
+      <origin rpy="0 0 0" xyz="0 0 0.0" />
       <geometry>
-        <box size="0.1 0.1 0.729921" />
+        <mesh filename="../urdf_support/sample/3.stl"/>
       </geometry>
-      <material name="blue">
-        <color rgba="0 0.0 1.0 1.0" />
-      </material>
+      <material name="blue"/>
     </visual>
   </link>
+  
   <link name="link_3">
     <inertial>
       <mass value="1.0" />
       <inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
     </inertial>
     <visual>
-      <origin rpy="0 0 0" xyz="0 0 0.049" />
+      <origin rpy="0 0 0" xyz="0 0 0.0" />
       <geometry>
-        <box size="0.1 0.1 0.098277" />
+        <mesh filename="../urdf_support/sample/4.stl"/>
       </geometry>
-      <material name="lightblue">
-        <color rgba="0. 0.22 1.00 1.0" />
-      </material>
+      <material name="lightblue"/>
     </visual>
   </link>
+
   <link name="link_4">
     <inertial>
       <mass value="1.0" />
       <inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
     </inertial>
     <visual>
-      <origin rpy="0 0 0" xyz="0 0 0.5545195" />
+      <origin rpy="0 0 0" xyz="0 0 0.0" />
       <geometry>
-        <box size="0.1 0.1 1.109039" />
+        <mesh filename="../urdf_support/sample/5.stl"/>
       </geometry>
-      <material name="yellow">
-        <color rgba="0.96 0.76 0.13 1.0" />
-      </material>
+      <material name="yellow"/>
     </visual>
   </link>
+
   <link name="link_5">
     <inertial>
       <mass value="1.0" />
       <inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
     </inertial>
     <visual>
-      <origin rpy="0 0 0" xyz="0 0 0.0585" />
+      <origin rpy="0 0 0" xyz="0 0 0.0" />
       <geometry>
-        <box size="0.1 0.1 0.117" />
+        <mesh filename="../urdf_support/sample/6.stl"/>
       </geometry>
-      <material name="orange">
-        <color rgba="1.0 0.5 0.0 1.0" />
-      </material>
+      <material name="orange"/>
     </visual>
   </link>
+
   <link name="link_6">
     <inertial>
       <mass value="1.0" />
       <inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
     </inertial>
     <visual>
-      <origin rpy="0 0 0" xyz="0 0 0.05" />
+      <origin rpy="0 0 0" xyz="0 0 0.0" />
       <geometry>
-        <box size="0.1 0.1 0.1" />
+        <mesh filename="../urdf_support/sample/7.stl"/>
       </geometry>
-      <material name="black">
-        <color rgba="0.15 0.15 0.15 1.0" />
-      </material>
+      <material name="black"/>
     </visual>
   </link>
-  <!-- joints: main serial chain -->
+
+  <!-- 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 0 0" />
+    <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" />
     <child link="link_2" />
     <axis xyz="0 -1 0" />
-    <origin rpy="0 0 0" xyz="0.0170450 0 0.494600" />
+    <origin rpy="0 0 0" xyz="-0.168621 0.103 0.23445" />
   </joint>
+
   <joint name="joint_3" type="revolute">
-    <origin rpy="0 1.5708 0" xyz="0 0 0.729921" />
+    <limit effort="0" lower="-2.6145" upper="2.8797" velocity="3.9269" />
     <parent link="link_2" />
     <child link="link_3" />
     <axis xyz="0 -1 0" />
-    <limit effort="0" lower="-2.6145" upper="2.8797" velocity="3.9269" />
+    <origin rpy="0 0 0" xyz="0.35988 -0.00232 0.63457" />
   </joint>
+
   <joint name="joint_4" type="revolute">
     <limit effort="0" lower="-3.3161" upper="3.3161" velocity="6.9813" />
     <parent link="link_3" />
     <child link="link_4" />
     <axis xyz="0 0 1" />
-    <origin rpy="0 0 0" xyz="0 0 0.098277" />
+    <origin rpy="0 0 0" xyz="-0.23985 -0.101766 0.0983" />
   </joint>
+
   <joint name="joint_5" type="revolute">
     <limit effort="0" lower="-2.0943" upper="2.0943" velocity="5.7595" />
     <parent link="link_4" />
     <child link="link_5" />
     <axis xyz="0 1 0" />
-    <origin rpy="0 0 0" xyz="0.0 0 1.109039" />
+    <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" />
     <parent link="link_5" />
     <child link="link_6" />
     <axis xyz="0 0 1" />
-    <origin rpy="0 0 0" xyz="0.0 0 0.117" />
+    <origin rpy="0 0 0" xyz="-0.12086 0.039025 0.0002" />
   </joint>
+  
 </robot>
\ No newline at end of file
diff --git a/urdf_support/sample/1.stl b/urdf_support/sample/1.stl
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diff --git a/urdf_support/sample/2.stl b/urdf_support/sample/2.stl
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index 0000000..eebda9b
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diff --git a/urdf_support/sample/3.stl b/urdf_support/sample/3.stl
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index 0000000..5559cfd
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diff --git a/urdf_support/sample/4.stl b/urdf_support/sample/4.stl
new file mode 100644
index 0000000..86f371c
Binary files /dev/null and b/urdf_support/sample/4.stl differ
diff --git a/urdf_support/sample/5.stl b/urdf_support/sample/5.stl
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index 0000000..225bdf5
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diff --git a/urdf_support/sample/6.stl b/urdf_support/sample/6.stl
new file mode 100644
index 0000000..236671c
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diff --git a/urdf_support/sample/7.stl b/urdf_support/sample/7.stl
new file mode 100644
index 0000000..5f0603b
Binary files /dev/null and b/urdf_support/sample/7.stl differ