diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm6_robot.urdf b/examples/pybullet/gym/pybullet_data/xarm/xarm6_robot.urdf
index 642c54293..cff254689 100644
--- a/examples/pybullet/gym/pybullet_data/xarm/xarm6_robot.urdf
+++ b/examples/pybullet/gym/pybullet_data/xarm/xarm6_robot.urdf
@@ -27,7 +27,16 @@
     <color rgba="0.0 0.0 0.0 1.0"/>
   </material>
   <material name="Red">
-    <color rgba="0.8 0.0 0.0 1.0"/>
+    <color rgba="0.85 0.19  0.21 1.0"/>
+  </material>
+  <material name="Blue">
+    <color rgba="0.28 0.52 0.92 1.0"/>
+  </material>
+  <material name="Green">
+    <color rgba="0.23 0.72 0.32 1.0"/>
+  </material>
+  <material name="Yellow">
+    <color rgba="0.95 0.76 0.05 1.0"/>
   </material>
   <material name="White">
     <color rgba="1.0 1.0 1.0 1.0"/>
@@ -41,7 +50,7 @@
         <mesh filename="package://xarm_description/meshes/xarm6/visual/base.stl"/>
       </geometry>
       <origin rpy="0 0 0" xyz="0 0 0"/>
-      <material name="White"/>
+      <material name="Blue"/>
     </visual>
     <collision>
       <geometry>
@@ -61,7 +70,7 @@
         <mesh filename="package://xarm_description/meshes/xarm6/visual/link1.stl"/>
       </geometry>
       <origin rpy="0 0 0" xyz="0 0 0"/>
-      <material name="White"/>
+      <material name="Red"/>
     </visual>
     <collision>
       <geometry>
@@ -89,7 +98,7 @@
         <mesh filename="package://xarm_description/meshes/xarm6/visual/link2.stl"/>
       </geometry>
       <origin rpy="0 0 0" xyz="0 0 0"/>
-      <material name="White"/>
+      <material name="Yellow"/>
     </visual>
     <collision>
       <geometry>
@@ -117,7 +126,7 @@
         <mesh filename="package://xarm_description/meshes/xarm6/visual/link3.stl"/>
       </geometry>
       <origin rpy="0 0 0" xyz="0 0 0"/>
-      <material name="White"/>
+      <material name="Blue"/>
     </visual>
     <collision>
       <geometry>
@@ -145,7 +154,7 @@
         <mesh filename="package://xarm_description/meshes/xarm6/visual/link4.stl"/>
       </geometry>
       <origin rpy="0 0 0" xyz="0 0 0"/>
-      <material name="White"/>
+      <material name="Green"/>
     </visual>
     <collision>
       <geometry>
@@ -173,7 +182,7 @@
         <mesh filename="package://xarm_description/meshes/xarm6/visual/link5.stl"/>
       </geometry>
       <origin rpy="0 0 0" xyz="0 0 0"/>
-      <material name="White"/>
+      <material name="Red"/>
     </visual>
     <collision>
       <geometry>
diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link6.mtl b/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link6.mtl
new file mode 100644
index 000000000..f231bdf4c
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link6.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 500
+Ka 0.8 0.8 0.8
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link6_vhacd.obj b/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link6_vhacd.obj
new file mode 100644
index 000000000..6db67b8f1
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link6_vhacd.obj
@@ -0,0 +1,189 @@
+o convex_0
+v 0.033187 0.018503 -0.027247
+v -0.037691 -0.004112 -0.027247
+v -0.036680 -0.006625 -0.028254
+v 0.013576 -0.034758 0.000399
+v -0.012050 0.035092 0.000399
+v 0.001516 -0.051863 -0.020710
+v -0.035174 -0.014657 -0.000608
+v 0.037202 0.000916 0.000399
+v -0.009541 0.036598 -0.027749
+v 0.032685 -0.018178 -0.028254
+v 0.016093 0.034593 -0.000608
+v -0.032658 0.019510 -0.000608
+v -0.005016 -0.051863 -0.008652
+v -0.024620 -0.028233 -0.028254
+v 0.028153 -0.025719 -0.000608
+v -0.028642 0.025037 -0.027247
+v 0.013074 0.035092 -0.028254
+v 0.006542 -0.051863 -0.011667
+v -0.029646 -0.022706 0.000399
+v 0.028662 0.025046 -0.000608
+v 0.013576 -0.034758 -0.028254
+v 0.037711 -0.000091 -0.027749
+v -0.037691 0.004927 -0.000608
+v -0.034673 0.013984 -0.028254
+v 0.005029 0.037614 -0.000608
+v 0.036700 -0.009629 -0.000608
+v -0.031654 -0.021191 -0.027247
+v -0.007024 -0.051855 -0.014175
+v -0.022103 0.031072 -0.000608
+v -0.013054 -0.034767 0.000399
+v 0.022123 0.031072 -0.027247
+v 0.036700 0.009963 -0.000608
+v 0.028153 -0.025719 -0.027247
+v 0.001014 -0.051863 -0.007143
+v -0.014058 -0.034767 -0.028254
+v 0.005029 0.037614 -0.027247
+v -0.034171 0.014982 0.000399
+v 0.021119 0.030572 0.000399
+v -0.016073 0.034593 -0.027247
+v -0.028133 -0.025719 -0.000608
+v -0.008028 0.037098 -0.000608
+v 0.034692 -0.015664 -0.027247
+v 0.035194 0.012477 -0.028254
+v -0.005016 -0.051863 -0.019201
+v -0.036680 0.009955 -0.027247
+v 0.006542 -0.051863 -0.017193
+v -0.037691 -0.004112 -0.000608
+v 0.031674 -0.021191 -0.000608
+v -0.035174 -0.014657 -0.027247
+v -0.023616 0.029066 -0.028254
+v 0.033187 0.018503 -0.000608
+v 0.023636 -0.028732 0.000399
+v 0.028662 0.025046 -0.027247
+v 0.036700 0.009963 -0.027247
+v -0.005016 0.037614 -0.027247
+v 0.037711 0.004936 -0.000608
+v 0.037711 -0.004112 -0.027247
+v -0.032658 0.019510 -0.027247
+v -0.035676 0.012976 -0.000608
+v 0.022123 0.031072 -0.000608
+v -0.016073 0.034593 -0.000608
+v 0.020617 -0.031246 -0.028254
+v -0.028642 0.025037 -0.000608
+v 0.016093 0.034593 -0.027247
+f 36 11 64 
+f 5 4 8 
+f 3 10 14 
+f 10 3 17 
+f 13 6 18 
+f 4 5 19 
+f 14 10 21 
+f 17 3 24 
+f 3 14 27 
+f 27 14 28 
+f 4 19 30 
+f 15 18 33 
+f 13 18 34 
+f 4 30 34 
+f 30 13 34 
+f 21 6 35 
+f 14 21 35 
+f 17 9 36 
+f 25 11 36 
+f 19 5 37 
+f 5 29 37 
+f 5 8 38 
+f 25 5 38 
+f 11 25 38 
+f 19 7 40 
+f 7 27 40 
+f 27 28 40 
+f 28 13 40 
+f 13 30 40 
+f 30 19 40 
+f 5 25 41 
+f 9 39 41 
+f 33 10 42 
+f 10 17 43 
+f 22 10 43 
+f 6 13 44 
+f 13 28 44 
+f 28 14 44 
+f 35 6 44 
+f 14 35 44 
+f 3 2 45 
+f 2 23 45 
+f 24 3 45 
+f 18 6 46 
+f 33 18 46 
+f 2 7 47 
+f 7 19 47 
+f 23 2 47 
+f 19 37 47 
+f 37 23 47 
+f 26 8 48 
+f 15 33 48 
+f 42 26 48 
+f 33 42 48 
+f 2 3 49 
+f 7 2 49 
+f 3 27 49 
+f 27 7 49 
+f 9 17 50 
+f 24 16 50 
+f 17 24 50 
+f 16 29 50 
+f 39 9 50 
+f 29 39 50 
+f 1 20 51 
+f 32 1 51 
+f 8 32 51 
+f 38 8 51 
+f 20 38 51 
+f 8 4 52 
+f 18 15 52 
+f 4 34 52 
+f 34 18 52 
+f 48 8 52 
+f 15 48 52 
+f 20 1 53 
+f 17 31 53 
+f 31 20 53 
+f 43 17 53 
+f 1 43 53 
+f 1 32 54 
+f 22 43 54 
+f 43 1 54 
+f 36 9 55 
+f 25 36 55 
+f 41 25 55 
+f 9 41 55 
+f 8 26 56 
+f 32 8 56 
+f 54 32 56 
+f 22 54 56 
+f 10 22 57 
+f 42 10 57 
+f 26 42 57 
+f 56 26 57 
+f 22 56 57 
+f 12 16 58 
+f 16 24 58 
+f 24 45 58 
+f 58 45 59 
+f 37 12 59 
+f 23 37 59 
+f 45 23 59 
+f 12 58 59 
+f 31 11 60 
+f 20 31 60 
+f 38 20 60 
+f 11 38 60 
+f 29 5 61 
+f 39 29 61 
+f 5 41 61 
+f 41 39 61 
+f 6 21 62 
+f 21 10 62 
+f 10 33 62 
+f 46 6 62 
+f 33 46 62 
+f 16 12 63 
+f 29 16 63 
+f 12 37 63 
+f 37 29 63 
+f 31 17 64 
+f 11 31 64 
+f 17 36 64 
diff --git a/examples/pybullet/gym/pybullet_envs/examples/xarm.py b/examples/pybullet/gym/pybullet_envs/examples/xarm.py
index ff6aef14b..781d5afa4 100644
--- a/examples/pybullet/gym/pybullet_envs/examples/xarm.py
+++ b/examples/pybullet/gym/pybullet_envs/examples/xarm.py
@@ -7,7 +7,12 @@ p.setAdditionalSearchPath(pd.getDataPath())
 
 useFixedBase = True
 flags = p.URDF_INITIALIZE_SAT_FEATURES#0#p.URDF_USE_SELF_COLLISION
-xarm = p.loadURDF("xarm/xarm6_with_gripper.urdf", flags = flags, useFixedBase=useFixedBase)
+
+#plane_pos = [0,0,0]
+#plane = p.loadURDF("plane.urdf", plane_pos, flags = flags, useFixedBase=useFixedBase)
+table_pos = [0,0,-0.625]
+table = p.loadURDF("table/table.urdf", table_pos, flags = flags, useFixedBase=useFixedBase)
+xarm = p.loadURDF("xarm/xarm6_robot.urdf", flags = flags, useFixedBase=useFixedBase)
 
 while (1):
 	p.stepSimulation()