diff --git a/urdf/sample.urdf b/urdf/sample.urdf
index aff6df7..dc702c5 100644
--- a/urdf/sample.urdf
+++ b/urdf/sample.urdf
@@ -519,4 +519,199 @@
     <encoderValidMax>3500</encoderValidMax>
   </actuator>
 </transmission>
+
+  <transmission name="upper_arm_left">
+  <type>transmission_interface/SimpleTransmission</type>
+  <joint name="spine_1_to_upper_arm_left">
+    <hardwareInterface>PositionJointInterface</hardwareInterface>
+  </joint>
+  <actuator name="spine_motor_1">
+    <mechanicalReduction>22.75</mechanicalReduction>
+    <hardwareInterface>PositionJointInterface</hardwareInterface>
+    <encoderTicks>4096</encoderTicks>
+    <encoderValidMin>200</encoderValidMin>
+    <encoderValidMax>3500</encoderValidMax>
+  </actuator>
+</transmission>
+
+ <transmission name="lower_arm_left">
+  <type>transmission_interface/SimpleTransmission</type>
+  <joint name="upper_arm_left_to_lower_arm_left">
+    <hardwareInterface>PositionJointInterface</hardwareInterface>
+  </joint>
+  <actuator name="spine_motor_1">
+    <mechanicalReduction>22.75</mechanicalReduction>
+    <hardwareInterface>PositionJointInterface</hardwareInterface>
+    <encoderTicks>4096</encoderTicks>
+    <encoderValidMin>200</encoderValidMin>
+    <encoderValidMax>3500</encoderValidMax>
+  </actuator>
+</transmission>
+
+ <transmission name="hand_left">
+  <type>transmission_interface/SimpleTransmission</type>
+  <joint name="lower_arm_left_to_hand_left">
+    <hardwareInterface>PositionJointInterface</hardwareInterface>
+  </joint>
+  <actuator name="spine_motor_1">
+    <mechanicalReduction>22.75</mechanicalReduction>
+    <hardwareInterface>PositionJointInterface</hardwareInterface>
+    <encoderTicks>4096</encoderTicks>
+    <encoderValidMin>200</encoderValidMin>
+    <encoderValidMax>3500</encoderValidMax>
+  </actuator>
+</transmission>
+
+<transmission name="upper_arm_right">
+  <type>transmission_interface/SimpleTransmission</type>
+  <joint name="spine_1_to_upper_arm_right">
+    <hardwareInterface>PositionJointInterface</hardwareInterface>
+  </joint>
+  <actuator name="spine_motor_1">
+    <mechanicalReduction>22.75</mechanicalReduction>
+    <hardwareInterface>PositionJointInterface</hardwareInterface>
+    <encoderTicks>4096</encoderTicks>
+    <encoderValidMin>200</encoderValidMin>
+    <encoderValidMax>3500</encoderValidMax>
+  </actuator>
+</transmission>
+
+<transmission name="lower_arm_right">
+  <type>transmission_interface/SimpleTransmission</type>
+  <joint name="upper_arm_right_to_lower_arm_right">
+    <hardwareInterface>PositionJointInterface</hardwareInterface>
+  </joint>
+  <actuator name="spine_motor_1">
+    <mechanicalReduction>22.75</mechanicalReduction>
+    <hardwareInterface>PositionJointInterface</hardwareInterface>
+    <encoderTicks>4096</encoderTicks>
+    <encoderValidMin>200</encoderValidMin>
+    <encoderValidMax>3500</encoderValidMax>
+  </actuator>
+</transmission>
+
+<transmission name="hand_right">
+  <type>transmission_interface/SimpleTransmission</type>
+  <joint name="lower_arm_right_to_hand_right">
+    <hardwareInterface>PositionJointInterface</hardwareInterface>
+  </joint>
+  <actuator name="spine_motor_1">
+    <mechanicalReduction>22.75</mechanicalReduction>
+    <hardwareInterface>PositionJointInterface</hardwareInterface>
+    <encoderTicks>4096</encoderTicks>
+    <encoderValidMin>200</encoderValidMin>
+    <encoderValidMax>3500</encoderValidMax>
+  </actuator>
+</transmission>
+
+<transmission name="upper_leg_right">
+  <type>transmission_interface/SimpleTransmission</type>
+  <joint name="base_link_to_upper_leg_right">
+    <hardwareInterface>PositionJointInterface</hardwareInterface>
+  </joint>
+  <actuator name="upper_leg_motor_right">
+    <mechanicalReduction>22.75</mechanicalReduction>
+    <hardwareInterface>PositionJointInterface</hardwareInterface>
+    <encoderTicks>4096</encoderTicks>
+    <encoderValidMin>200</encoderValidMin>
+    <encoderValidMax>3500</encoderValidMax>
+  </actuator>
+</transmission>
+
+<transmission name="lower_leg_right">
+  <type>transmission_interface/SimpleTransmission</type>
+  <joint name="upper_leg_right_to_lower_leg_right">
+    <hardwareInterface>PositionJointInterface</hardwareInterface>
+  </joint>
+  <actuator name="lower_leg_motor_right">
+    <mechanicalReduction>22.75</mechanicalReduction>
+    <hardwareInterface>PositionJointInterface</hardwareInterface>
+    <encoderTicks>4096</encoderTicks>
+    <encoderValidMin>200</encoderValidMin>
+    <encoderValidMax>3500</encoderValidMax>
+  </actuator>
+</transmission>
+
+<transmission name="foot_right">
+  <type>transmission_interface/SimpleTransmission</type>
+  <joint name="lower_leg_right_to_foot_right">
+    <hardwareInterface>PositionJointInterface</hardwareInterface>
+  </joint>
+  <actuator name="foot_motor_right">
+    <mechanicalReduction>22.75</mechanicalReduction>
+    <hardwareInterface>PositionJointInterface</hardwareInterface>
+    <encoderTicks>4096</encoderTicks>
+    <encoderValidMin>200</encoderValidMin>
+    <encoderValidMax>3500</encoderValidMax>
+  </actuator>
+</transmission>
+
+<transmission name="upper_leg_left">
+  <type>transmission_interface/SimpleTransmission</type>
+  <joint name="base_link_to_upper_leg_left">
+    <hardwareInterface>PositionJointInterface</hardwareInterface>
+  </joint>
+  <actuator name="upper_leg_motor_left">
+    <mechanicalReduction>22.75</mechanicalReduction>
+    <hardwareInterface>PositionJointInterface</hardwareInterface>
+    <encoderTicks>4096</encoderTicks>
+    <encoderValidMin>200</encoderValidMin>
+    <encoderValidMax>3500</encoderValidMax>
+  </actuator>
+</transmission>
+
+<transmission name="lower_leg_left">
+  <type>transmission_interface/SimpleTransmission</type>
+  <joint name="upper_leg_left_to_lower_leg_left">
+    <hardwareInterface>PositionJointInterface</hardwareInterface>
+  </joint>
+  <actuator name="lower_leg_motor_left">
+    <mechanicalReduction>22.75</mechanicalReduction>
+    <hardwareInterface>PositionJointInterface</hardwareInterface>
+    <encoderTicks>4096</encoderTicks>
+    <encoderValidMin>200</encoderValidMin>
+    <encoderValidMax>3500</encoderValidMax>
+  </actuator>
+</transmission>
+
+<transmission name="foot_left">
+  <type>transmission_interface/SimpleTransmission</type>
+  <joint name="lower_leg_left_to_foot_left">
+    <hardwareInterface>PositionJointInterface</hardwareInterface>
+  </joint>
+  <actuator name="foot_motor_left">
+    <mechanicalReduction>22.75</mechanicalReduction>
+    <hardwareInterface>PositionJointInterface</hardwareInterface>
+    <encoderTicks>4096</encoderTicks>
+    <encoderValidMin>200</encoderValidMin>
+    <encoderValidMax>3500</encoderValidMax>
+  </actuator>
+</transmission>
+<transmission name="neck_base">
+  <type>transmission_interface/SimpleTransmission</type>
+  <joint name="spine_1_to_neck">
+    <hardwareInterface>PositionJointInterface</hardwareInterface>
+  </joint>
+  <actuator name="neck_motor_base">
+    <mechanicalReduction>22.75</mechanicalReduction>
+    <hardwareInterface>PositionJointInterface</hardwareInterface>
+    <encoderTicks>4096</encoderTicks>
+    <encoderValidMin>200</encoderValidMin>
+    <encoderValidMax>3500</encoderValidMax>
+  </actuator>
+</transmission>
+<transmission name="neck_tip">
+  <type>transmission_interface/SimpleTransmission</type>
+  <joint name="neck_to_head">
+    <hardwareInterface>PositionJointInterface</hardwareInterface>
+  </joint>
+  <actuator name="neck_motor_tip">
+    <mechanicalReduction>22.75</mechanicalReduction>
+    <hardwareInterface>PositionJointInterface</hardwareInterface>
+    <encoderTicks>4096</encoderTicks>
+    <encoderValidMin>200</encoderValidMin>
+    <encoderValidMax>3500</encoderValidMax>
+  </actuator>
+</transmission>
+
 </robot>
\ No newline at end of file