diff --git a/pyrobolearn/robots/urdfs/pleurobot/pleurobot.urdf b/pyrobolearn/robots/urdfs/pleurobot/pleurobot.urdf
index 8db4359..ad3797b 100644
--- a/pyrobolearn/robots/urdfs/pleurobot/pleurobot.urdf
+++ b/pyrobolearn/robots/urdfs/pleurobot/pleurobot.urdf
@@ -4,6 +4,37 @@
 <!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
 <!-- =================================================================================== -->
 <robot name="pleurobot" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <material name="black">
+    <color rgba="0.2 0.2 0.2 1"/>
+  </material>
+  <material name="white">
+    <color rgba="0.9 0.9 0.9 1"/>
+  </material>
+  <material name="dark_gray">
+    <color rgba="0.3 0.3 0.3 1"/>
+  </material>
+  <material name="gray">
+    <color rgba="0.5 0.5 0.5 1"/>
+  </material>
+  <material name="light_gray">
+    <color rgba="0.7 0.7 0.7 1"/>
+  </material>
+  <material name="pure_red">
+    <color rgba="1.0 0.0 0.0 1"/>
+  </material>
+  <material name="red">
+    <color rgba="0.5 0.1 0.2 1"/>
+  </material>
+  <material name="pure_green">
+    <color rgba="0.0 1.0 0.0 1"/>
+  </material>
+  <material name="pure_blue">
+    <color rgba="0.0 0.0 1.0 1"/>
+  </material>
+  <material name="blue">
+    <color rgba="0.0 0.2 0.3 1"/>
+  </material>
+
   <gazebo>
     <!-- ros_control plugin -->
     <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
@@ -582,6 +613,7 @@
   </material>
   <link name="Head">
     <visual>
+      <material name="white"/>
       <origin rpy="3.1416 0 -1.5708 " xyz="-0.6 0.615 0.515"/>
       <geometry>
         <mesh filename="meshes/head.STL" scale=".0015 .0015 .0015"/>
@@ -621,6 +653,7 @@
   </joint>
   <link name="link1">
     <visual>
+      <material name="white"/>
       <origin rpy="3.1416 0 -1.5708 " xyz="-0.5 0.612 0.515"/>
       <geometry>
         <mesh filename="meshes/link1.STL" scale=".0015 .0015 .0015"/>
@@ -647,6 +680,7 @@
   </joint>
   <link name="link2">
     <visual>
+      <material name="white"/>
       <origin rpy="3.1416 0 -1.5708 " xyz="-0.405 0.6135 0.516"/>
       <geometry>
         <mesh filename="meshes/link2.STL" scale=".0015 .0015 .0015"/>
@@ -673,6 +707,7 @@
   </joint>
   <link name="link3">
     <visual>
+      <material name="white"/>
       <origin rpy="3.1416 0 -1.5708 " xyz="-0.235 0.6135 0.515"/>
       <geometry>
         <mesh filename="meshes/link3.STL" scale=".0015 .0015 .0015"/>
@@ -699,6 +734,7 @@
   </joint>
   <link name="link4">
     <visual>
+      <material name="white"/>
       <origin rpy="3.1416 0 -1.5708 " xyz="-0.09 0.6135 0.515"/>
       <geometry>
         <mesh filename="meshes/link4.STL" scale=".0015 .0015 .0015"/>
@@ -725,6 +761,7 @@
   </joint>
   <link name="link5">
     <visual>
+      <material name="white"/>
       <origin rpy="3.1416 0 -1.5708 " xyz="0.04 0.6135 0.515"/>
       <geometry>
         <mesh filename="meshes/link5.STL" scale=".0015 .0015 .0015"/>
@@ -744,6 +781,7 @@
   </link>
   <link name="link12">
     <visual>
+      <material name="black"/>
       <origin rpy="0 0 1.5708 " xyz="-0.5025 -0.735 -0.428"/>
       <geometry>
         <mesh filename="meshes/link12.STL" scale=".0015 .0015 .0015"/>
@@ -770,6 +808,7 @@
   </joint>
   <link name="link13">
     <visual>
+      <material name="white"/>
       <origin rpy="3.1416 0 3.1416" xyz="0.737 0.5025 0.425"/>
       <geometry>
         <mesh filename="meshes/link13.STL" scale=".0015 .0015 .0015"/>
@@ -796,6 +835,7 @@
   </joint>
   <link name="link14">
     <visual>
+      <material name="black"/>
       <origin rpy="0 0 0" xyz="-0.927 0.5025 -0.424"/>
       <geometry>
         <mesh filename="meshes/link14.STL" scale=".0015 .0015 .0015"/>
@@ -822,6 +862,7 @@
   </joint>
   <link name="link15">
     <visual>
+      <material name="light_gray"/>
       <origin rpy="0 0 0" xyz="-0.951 0.5025 -0.426"/>
       <geometry>
         <mesh filename="meshes/link15.STL" scale=".0015 .0015 .0015"/>
@@ -848,6 +889,7 @@
   </joint>
   <link name="link16">
     <visual>
+      <material name="black"/>
       <origin rpy="0 0 1.5708 " xyz="-0.503 -0.492 -0.428"/>
       <geometry>
         <mesh filename="meshes/link16.STL" scale=".0015 .0015 .0015"/>
@@ -874,6 +916,7 @@
   </joint>
   <link name="link17">
     <visual>
+      <material name="white"/>
       <origin rpy="3.1416 0 3.1416" xyz="0.493 0.503 0.424"/>
       <geometry>
         <mesh filename="meshes/link17.STL" scale=".0015 .0015 .0015"/>
@@ -900,6 +943,7 @@
   </joint>
   <link name="link18">
     <visual>
+      <material name="black"/>
       <origin rpy="0 0 -3.1416" xyz="0.305 -0.503 -0.424"/>
       <geometry>
         <mesh filename="meshes/link18.STL" scale=".0015 .0015 .0015"/>
@@ -926,6 +970,7 @@
   </joint>
   <link name="link19">
     <visual>
+      <material name="light_gray"/>
       <origin rpy="0 0 0" xyz="-0.275 0.503 -0.425"/>
       <geometry>
         <mesh filename="meshes/link19.STL" scale=".0015 .0015 .0015"/>
@@ -959,6 +1004,7 @@
   </joint>
   <link name="link6">
     <visual>
+      <material name="white"/>
       <origin rpy="3.1416 0 -1.5708 " xyz="0.173 0.6135 0.515"/>
       <geometry>
         <mesh filename="meshes/link6.STL" scale=".0015 .0015 .0015"/>
@@ -985,6 +1031,7 @@
   </joint>
   <link name="link_tailBone">
     <visual>
+      <material name="white"/>
       <origin rpy="3.1416 0 -1.58 " xyz="0.338 0.61 0.515"/>
       <geometry>
         <mesh filename="meshes/tailbone.STL" scale=".0015 .0015 .0015"/>
@@ -1011,6 +1058,7 @@
   </joint>
   <link name="link7">
     <visual>
+      <material name="white"/>
       <origin rpy="3.1416 0 -1.5708 " xyz="0.382 0.6135 0.521"/>
       <geometry>
         <mesh filename="meshes/link7.STL" scale=".0015 .0015 .0015"/>
@@ -1037,6 +1085,7 @@
   </joint>
   <link name="link8">
     <visual>
+      <material name="white"/>
       <origin rpy="0 0 1.5708 " xyz="0.5094 -0.6135 -0.5145"/>
       <geometry>
         <mesh filename="meshes/link8.STL" scale=".0015 .0015 .0015"/>
@@ -1063,6 +1112,7 @@
   </joint>
   <link name="link9">
     <visual>
+      <material name="white"/>
       <origin rpy="0 0 1.5708 " xyz="0.618 -0.613 -0.5145"/>
       <geometry>
         <mesh filename="meshes/link9.STL" scale=".0015 .0015 .0015"/>
@@ -1089,6 +1139,7 @@
   </joint>
   <link name="link10">
     <visual>
+      <material name="white"/>
       <origin rpy="0 0 1.5708 " xyz="0.732 -0.613 -0.5145"/>
       <geometry>
         <mesh filename="meshes/link10.STL" scale=".0015 .0015 .0015"/>
@@ -1115,6 +1166,7 @@
   </joint>
   <link name="link11">
     <visual>
+      <material name="white"/>
       <origin rpy="0 0 1.5708 " xyz="0.871 -0.613 -0.5145"/>
       <geometry>
         <mesh filename="meshes/link11.STL" scale=".0015 .0015 .0015"/>
@@ -1134,6 +1186,7 @@
   </link>
   <link name="link20">
     <visual>
+      <material name="black"/>
       <origin rpy="0 0 -1.5708 " xyz="-0.275 0.687 -0.4465"/>
       <geometry>
         <mesh filename="meshes/link20.STL" scale=".0015 .0015 .0015"/>
@@ -1160,6 +1213,7 @@
   </joint>
   <link name="link21">
     <visual>
+      <material name="white"/>
       <origin rpy="3.1416 0 3.1416 " xyz="0.685 -0.275 0.445"/>
       <geometry>
         <mesh filename="meshes/link21.STL" scale=".0015 .0015 .0015"/>
@@ -1186,6 +1240,7 @@
   </joint>
   <link name="link22">
     <visual>
+      <material name="black"/>
       <origin rpy="0 0 0" xyz="-0.855 -0.275 -0.445"/>
       <geometry>
         <mesh filename="meshes/link22.STL" scale=".0015 .0015 .0015"/>
@@ -1212,6 +1267,7 @@
   </joint>
   <link name="link23">
     <visual>
+      <material name="light_gray"/>
       <origin rpy="0 0 0" xyz="-0.876 -0.272 -0.445"/>
       <geometry>
         <mesh filename="meshes/link23.STL" scale=".0015 .0015 .0015"/>
@@ -1238,6 +1294,7 @@
   </joint>
   <link name="link24">
     <visual>
+      <material name="black"/>
       <origin rpy="3.1416 0 -1.5708 " xyz="0.275 0.54 0.4465"/>
       <geometry>
         <mesh filename="meshes/link24.STL" scale=".0015 .0015 .0015"/>
@@ -1264,6 +1321,7 @@
   </joint>
   <link name="link25">
     <visual>
+      <material name="white"/>
       <origin rpy="0 3.1416 0 " xyz="0.542 -0.275 0.445"/>
       <geometry>
         <mesh filename="meshes/link25.STL" scale=".0015 .0015 .0015"/>
@@ -1290,6 +1348,7 @@
   </joint>
   <link name="link26">
     <visual>
+      <material name="black"/>
       <origin rpy="0 0 3.1416" xyz="0.37 0.275 -0.444"/>
       <geometry>
         <mesh filename="meshes/link26.STL" scale=".0015 .0015 .0015"/>
@@ -1316,6 +1375,7 @@
   </joint>
   <link name="link27">
     <visual>
+      <material name="light_gray"/>
       <origin rpy="0 0 0" xyz="-0.35 -0.2753 -0.448"/>
       <geometry>
         <mesh filename="meshes/link27.STL" scale=".0015 .0015 .0015"/>
@@ -1349,6 +1409,7 @@
   </joint>
   <link name="link_tail">
     <visual>
+      <material name="white"/>
       <origin rpy="0 0 1.5708 " xyz="0.97 -0.6125 -0.51"/>
       <geometry>
         <mesh filename="meshes/tail.STL" scale=".0015 .0015 .0015"/>
@@ -1399,6 +1460,7 @@
       </geometry>
     </collision>
     <visual>
+      <material name="black"/>
       <origin rpy="0 0 1.5707963268" xyz="0 0 0"/>
       <geometry>
         <mesh filename="meshes/sensors/kinect.dae"/>