diff --git a/Go2Py/assets/calibration/imu/acceleration.png b/Go2Py/assets/calibration/imu/acceleration.png
index 79a653d..34d07f8 100644
Binary files a/Go2Py/assets/calibration/imu/acceleration.png and b/Go2Py/assets/calibration/imu/acceleration.png differ
diff --git a/Go2Py/assets/calibration/imu/gyro.png b/Go2Py/assets/calibration/imu/gyro.png
index f01c608..063984f 100644
Binary files a/Go2Py/assets/calibration/imu/gyro.png and b/Go2Py/assets/calibration/imu/gyro.png differ
diff --git a/Go2Py/assets/mujoco/go2.png b/Go2Py/assets/mujoco/go2.png
index db44695..e3578b7 100644
Binary files a/Go2Py/assets/mujoco/go2.png and b/Go2Py/assets/mujoco/go2.png differ
diff --git a/deploy/ros2_nodes/go2_description/urdf/Amended_collision_model.png b/deploy/ros2_nodes/go2_description/urdf/Amended_collision_model.png
index 2854987..f6def24 100644
Binary files a/deploy/ros2_nodes/go2_description/urdf/Amended_collision_model.png and b/deploy/ros2_nodes/go2_description/urdf/Amended_collision_model.png differ
diff --git a/deploy/ros2_nodes/go2_description/urdf/Normal_collision_model.png b/deploy/ros2_nodes/go2_description/urdf/Normal_collision_model.png
index d299e57..5d7e127 100644
Binary files a/deploy/ros2_nodes/go2_description/urdf/Normal_collision_model.png and b/deploy/ros2_nodes/go2_description/urdf/Normal_collision_model.png differ
diff --git a/docs/assets/lidar-camera-extrinsics.drawio.png b/docs/assets/lidar-camera-extrinsics.drawio.png
index 8fd6a4d..4255d2f 100644
Binary files a/docs/assets/lidar-camera-extrinsics.drawio.png and b/docs/assets/lidar-camera-extrinsics.drawio.png differ
diff --git a/docs/assets/openfig.png b/docs/assets/openfig.png
index 56c9681..8ff2c25 100644
Binary files a/docs/assets/openfig.png and b/docs/assets/openfig.png differ