diff --git a/cad/sma_open.scad b/cad/sma_open.scad
index 7d52442..e4da8c9 100644
--- a/cad/sma_open.scad
+++ b/cad/sma_open.scad
@@ -8,7 +8,7 @@
  */
  
 // To visualize the whole SMA
-//open_sma();
+open_sma();
 
 // To render only one attach or the support, ready to print
 //ready_to_print(5);
@@ -31,7 +31,9 @@ theta = [0, 109.471, 109.471, 109.471, 70.5284, 180];
 // microphone azimuth coordinates (°):
 phi = [0, 240, 120, 0, 180, 0];
 
-// connection matrix : For the i-th microphone, the neighbouring microphones number are listed in the i-th row (i starts at 0).
+/* Connection matrix: For the i-th microphone, the neighbouring microphones number are listed in the i-th row (i starts at 0).
+*/
+// connection matrix
 neighbors = 
 [
 [1, 2, 3, 4], //0
diff --git a/cad/sma_rigid.json b/cad/sma_rigid.json
index e79596b..f3bd71c 100644
--- a/cad/sma_rigid.json
+++ b/cad/sma_rigid.json
@@ -15,38 +15,6 @@
             "screw_phi_offset": "22.5",
             "theta": "[0, 109.471, 109.471, 109.471]"
         },
-        "mclaren30": {
-            "angle_max": "72",
-            "angle_min": "65",
-            "d_hole": "13",
-            "d_screw": "3",
-            "dir_thread": "[-7, -9]",
-            "e": "5",
-            "hole_phi_offset": "-5",
-            "mics_rotate": "[-90, 0, 0]",
-            "n_screw": "4",
-            "phi": "[0, 0, 90, 180, 270, 0, 63.9988, 153.999, 243.999, 333.999, 17.1086, 107.109, 197.109, 287.109, 57.7455, 147.746, 237.746, 327.746, 32.2545, 122.254, 212.254, 302.254, 72.8914, 162.891, 252.891, 342.891, 26.0012, 116.001, 206.001, 296.001]",
-            "r": "75",
-            "res": "360",
-            "screw_phi_offset": "35",
-            "theta": "[0, 90, 90, 90, 90, 180, 35.0738, 35.0738, 35.0738, 35.0738, 58.9043, 58.9043, 58.9043, 58.9043, 75.4093, 75.4093, 75.4093, 75.4093, 104.591, 104.591, 104.591, 104.591, 121.096, 121.096, 121.096, 121.096, 144.926, 144.926, 144.926, 144.926]"
-        },
-        "lebedev14": {
-            "angle_max": "82",
-            "angle_min": "75",
-            "d_hole": "10",
-            "d_screw": "3",
-            "dir_thread": "[13, 0]",
-            "e": "6",
-            "hole_phi_offset": "45",
-            "mics_rotate": "[-90, 0, 0]",
-            "n_screw": "4",
-            "phi": "[0, 0, 90, 180, 270, 0, 45, 135, 225, 315, 45, 135, 225, 315]",
-            "r": "60",
-            "res": "360",
-            "screw_phi_offset": "0",
-            "theta": "[0, 90, 90, 90, 90, 180, 54.7356, 54.7356, 54.7356, 54.7356, 125.264, 125.264, 125.264, 125.264]"
-        },
         "popov10": {
             "angle_max": "94",
             "angle_min": "86",
@@ -62,6 +30,58 @@
             "res": "32",
             "screw_phi_offset": "0",
             "theta": "[0, 180, 63.4349, 116.565, 116.565, 63.4349, 116.565, 63.4349, 63.4349, 116.565]"
+        },
+        "lebedev14": {
+            "angle_max": "82",
+            "angle_min": "75",
+            "d_hole": "10",
+            "d_screw": "3",
+            "dir_thread": "[13, 0]",
+            "e": "6",
+            "hole_phi_offset": "45",
+            "mic_type": "1\/4",
+            "mics_rotate": "[-90, 0, 0]",
+            "n_screw": "4",
+            "phi": "[0, 0, 90, 180, 270, 0, 45, 135, 225, 315, 45, 135, 225, 315]",
+            "r": "60",
+            "res": "32",
+            "screw_phi_offset": "0",
+            "theta": "[0, 90, 90, 90, 90, 180, 54.7356, 54.7356, 54.7356, 54.7356, 125.264, 125.264, 125.264, 125.264]",
+            "usb_card": "false"
+        },
+        "mclaren30": {
+            "angle_max": "72",
+            "angle_min": "65",
+            "d_hole": "13",
+            "d_screw": "3",
+            "dir_thread": "[-7, -9]",
+            "e": "5",
+            "hole_phi_offset": "-5",
+            "mics_rotate": "[-90, 0, 0]",
+            "n_screw": "4",
+            "phi": "[0, 0, 90, 180, 270, 0, 63.9988, 153.999, 243.999, 333.999, 17.1086, 107.109, 197.109, 287.109, 57.7455, 147.746, 237.746, 327.746, 32.2545, 122.254, 212.254, 302.254, 72.8914, 162.891, 252.891, 342.891, 26.0012, 116.001, 206.001, 296.001]",
+            "r": "75",
+            "res": "32",
+            "screw_phi_offset": "35",
+            "theta": "[0, 90, 90, 90, 90, 180, 35.0738, 35.0738, 35.0738, 35.0738, 58.9043, 58.9043, 58.9043, 58.9043, 75.4093, 75.4093, 75.4093, 75.4093, 104.591, 104.591, 104.591, 104.591, 121.096, 121.096, 121.096, 121.096, 144.926, 144.926, 144.926, 144.926]"
+        },
+        "popov22": {
+            "angle_max": "93",
+            "angle_min": "87",
+            "d_hole": "10",
+            "d_screw": "3",
+            "dir_thread": "[13, 0]",
+            "e": "6",
+            "hole_phi_offset": "45",
+            "mic_type": "1\/4",
+            "mics_rotate": "[0, 0, 0]",
+            "n_screw": "4",
+            "phi": "[0, 72, 108, 144, 180, 216, 252, 288, 324, 0, 36, 0, 252, 288, 324, 0, 36, 72, 108, 144, 180, 216]",
+            "r": "55",
+            "res": "32",
+            "screw_phi_offset": "0",
+            "theta": "[0, 46.7442, 79.9551, 46.7442, 79.9551, 46.7442, 79.9551, 46.7442, 79.9551, 46.7442, 79.9551, 180, 133.256, 100.045, 133.256, 100.045, 133.256, 100.045, 133.256, 100.045, 133.256, 100.045]",
+            "usb_card": "true"
         }
     },
     "fileFormatVersion": "1"
diff --git a/cad/sma_rigid.scad b/cad/sma_rigid.scad
index 3984e38..299c8a4 100644
--- a/cad/sma_rigid.scad
+++ b/cad/sma_rigid.scad
@@ -149,6 +149,9 @@ circle(2.6);
 }
 }
 
+module tdm(){
+}
+
 module mics(type){
         rotate(mics_rotate)
 for (i = [0 : len(theta)-1]){
diff --git a/wx250s_custom/wx250s_custom.urdf.xacro b/wx250s_custom/wx250s_custom.urdf.xacro
index 7885fc8..695ffcf 100644
--- a/wx250s_custom/wx250s_custom.urdf.xacro
+++ b/wx250s_custom/wx250s_custom.urdf.xacro
@@ -448,7 +448,7 @@
       <axis xyz="1 0 0"/>
       <origin
         rpy="0 0 0"
-        xyz="0.128 0 0"/>
+        xyz="0.196 0 0"/>
       <parent
         link="$(arg robot_name)/sma_attach_link"/>
       <child
@@ -458,7 +458,7 @@
     <link name="$(arg robot_name)/sma_link">
       <visual>
         <origin
-          rpy="0 0 ${pi/2}"
+          rpy="0 0 0"
           xyz="0 0 0"/>
         <geometry>
           <mesh
@@ -468,7 +468,7 @@
       </visual>
       <collision>
         <origin
-          rpy="0 0 ${pi/2}"
+          rpy="0 0 0"
           xyz="0 0 0"/>
         <geometry>
           <mesh
@@ -487,6 +487,50 @@
           iyz="0"/>
       </inertial>
     </link>
+    
+    <joint name="sma2" type="fixed">
+      <axis xyz="1 0 0"/>
+      <origin
+        rpy="0 0 0"
+        xyz="0 0 0"/>
+      <parent
+        link="$(arg robot_name)/sma_link"/>
+      <child
+        link="$(arg robot_name)/sma_link2"/>
+    </joint>
+    
+    <link name="$(arg robot_name)/sma_link2">
+      <visual>
+        <origin
+          rpy="0 0 0"
+          xyz="0 0 0"/>
+        <geometry>
+          <mesh
+            filename="${mesh_directory}/sma.stl"
+            scale="0.001 0.001 0.001"/>
+        </geometry>
+      </visual>
+      <collision>
+        <origin
+          rpy="0 0 0"
+          xyz="0 0 0"/>
+        <geometry>
+          <mesh
+            filename="${mesh_directory}/sma.stl"
+            scale="0.001 0.001 0.001"/>
+        </geometry>
+      </collision>
+      <inertial>
+        <mass value="0"/>
+        <inertia
+          ixx="0.001"
+          iyy="0.001"
+          izz="0.001"
+          ixy="0"
+          ixz="0"
+          iyz="0"/>
+      </inertial>
+    </link>
 
   <xacro:if value="${hardware_type == 'gz_classic'}">
     <xacro:gazebo_configs/>
diff --git a/wx250s_custom/wx250s_custom_meshes/sma.stl b/wx250s_custom/wx250s_custom_meshes/sma.stl
index 506559f..28ee4b1 100644
Binary files a/wx250s_custom/wx250s_custom_meshes/sma.stl and b/wx250s_custom/wx250s_custom_meshes/sma.stl differ