diff --git a/.github/scripts/modify_urdf.py b/.github/scripts/modify_urdf.py
index 4c46322..ec744e3 100755
--- a/.github/scripts/modify_urdf.py
+++ b/.github/scripts/modify_urdf.py
@@ -1,24 +1,109 @@
 import xml.etree.ElementTree as ET
 import sys
+import bpy
+import os
+from mathutils import Vector
+
 
 def remove_tags(urdf_file):
     # Parse the URDF file
     tree = ET.parse(urdf_file)
     root = tree.getroot()
 
+    # Get the absolute path of the URDF file
+    abs_path = os.path.abspath(urdf_file)
+    index = abs_path.find('kuka_robot_descriptions')
+    repo_root = abs_path[:index + len('kuka_robot_descriptions')]
+
     # Find the ros2_control tag and remove it
     for ros2_control in root.findall('ros2_control'):
         root.remove(ros2_control)
 
     # Find all link tags
     for link in root.findall('.//link'):
-        # Find all visual tags within the current link tag and remove them
-        for visual in link.findall('visual'):
-            link.remove(visual)
+        # Find the visual tag
+        visual_tag = link.find('visual')
+        # Find the mesh tag within the visual tag
+        mesh_tag = visual_tag.find('.//mesh')
+        # Get the filename attribute
+        filename = repo_root + mesh_tag.get('filename').replace("package://", "", 1)
+        # Find the origin tag within the visual tag
+        origin_tag = visual_tag.find('.//origin')
+
+        # Get the coordinates
+        xyz = origin_tag.get('xyz')
+        rpy = origin_tag.get('rpy')
+
+        # Remove the visual attribute
+        link.remove(visual_tag)
+
+        origin, size = calc_bounding_box(filename, xyz, rpy)
+
+        collision_tag = visual_tag = link.find('collision')
+        geometry_tag = collision_tag.find('geometry')
+        # Find the mesh tag within the geometry tag
+        mesh_tag = geometry_tag.find('mesh')
+        # Create a new box tag
+        box_tag = ET.Element('box')
+        # Set the size attribute of the box tag
+        box_tag.set('size', ' '.join(map(str, size)))
+        # Replace the mesh tag with the box tag
+        geometry_tag.replace(mesh_tag, box_tag)
+
+        # TODO: modify origin tag
 
     # Write the modified tree back to the file
     tree.write(urdf_file)
 
+
+def calc_bounding_box(file_path, xyz, rpy):
+    # Delete all mesh objects
+    bpy.ops.object.select_all(action='DESELECT')
+    bpy.ops.object.select_by_type(type='MESH')
+    bpy.ops.object.delete()
+
+    # Get the file extension
+    _, file_extension = os.path.splitext(file_path)
+
+    # Import the file based on its extension
+    if file_extension.lower() == ".stl":
+        bpy.ops.import_mesh.stl(filepath=file_path)
+    elif file_extension.lower() == ".dae":
+        bpy.ops.wm.collada_import(filepath=file_path, auto_connect=True)
+    else:
+        print(f"Unsupported file extension: {file_extension}")
+        return
+
+    # Get the imported object
+    obj = bpy.context.selected_objects[0]
+
+    # If the object is an EMPTY, look for MESH objects among its children
+    if obj.type == 'EMPTY':
+        meshes = [child for child in obj.children if child.type == 'MESH']
+
+        # If there are multiple meshes, join them into one
+        if len(meshes) > 1:
+            bpy.ops.object.select_all(action='DESELECT')
+            for mesh in meshes:
+                mesh.select_set(True)
+            bpy.context.view_layer.objects.active = meshes[0]
+            bpy.ops.object.join()
+
+        # The joined mesh is now the active object
+        obj = bpy.context.active_object
+
+    # Calculate the bounding box
+    bbox_corners = [obj.matrix_world @ Vector(v[:]) for v in obj.bound_box]
+
+    # Calculate the center of the bounding box
+    bbox_center = sum(bbox_corners, Vector()) / len(bbox_corners)
+
+    # Calculate the size of the bounding box
+    bbox_size = [max(corner[i] for corner in bbox_corners) - min(corner[i] for corner in bbox_corners) for i in range(3)]
+
+    return bbox_center, bbox_size
+
+
 if __name__ == "__main__":
     # Check if a file name was provided
     if len(sys.argv) < 2:
diff --git a/.github/workflows/urdf_transform.yml b/.github/workflows/urdf_transform.yml
index 02bb8f1..ff12ff9 100644
--- a/.github/workflows/urdf_transform.yml
+++ b/.github/workflows/urdf_transform.yml
@@ -26,7 +26,7 @@ jobs:
       run: |
         apt update
         apt install -y ros-humble-xacro python3-pip
-        python3 -m pip install lxml
+        python3 -m pip install lxml bpy mathutils
 
     - name: Build support packages
       run: |