diff --git a/Content/Blueprints/BP_Puma.uasset b/Content/Blueprints/BP_Puma.uasset
index 7a1b5e3..4531613 100644
Binary files a/Content/Blueprints/BP_Puma.uasset and b/Content/Blueprints/BP_Puma.uasset differ
diff --git a/Content/Blueprints/BP_Robot.uasset b/Content/Blueprints/BP_Robot.uasset
index dcd2c89..f3ace98 100644
Binary files a/Content/Blueprints/BP_Robot.uasset and b/Content/Blueprints/BP_Robot.uasset differ
diff --git a/Content/Blueprints/BP_Target.uasset b/Content/Blueprints/BP_Target.uasset
index dbe96f4..0d1ae3c 100644
Binary files a/Content/Blueprints/BP_Target.uasset and b/Content/Blueprints/BP_Target.uasset differ
diff --git a/Content/Levels/Main.umap b/Content/Levels/Main.umap
index cb17aa2..a32338f 100644
Binary files a/Content/Levels/Main.umap and b/Content/Levels/Main.umap differ
diff --git a/Content/Materials/M_Ground.uasset b/Content/Materials/M_Ground.uasset
new file mode 100644
index 0000000..c9a3881
Binary files /dev/null and b/Content/Materials/M_Ground.uasset differ
diff --git a/Content/Materials/M_Link.uasset b/Content/Materials/M_Link.uasset
index 273887f..0cf77f7 100644
Binary files a/Content/Materials/M_Link.uasset and b/Content/Materials/M_Link.uasset differ
diff --git a/Source/PBDRobotics/Joint.h b/Source/PBDRobotics/Joint.h
index 189917a..c9d7889 100644
--- a/Source/PBDRobotics/Joint.h
+++ b/Source/PBDRobotics/Joint.h
@@ -18,10 +18,10 @@ class PBDROBOTICS_API UJoint : public UObject
 	GENERATED_BODY()
 public:
 	
-	UPROPERTY(BlueprintReadWrite)
+	UPROPERTY()
 	ULink* FirstLink;
 
-	UPROPERTY(BlueprintReadWrite)
+	UPROPERTY()
 	ULink* SecondLink;
 
 	// First Connection point in local space
diff --git a/Source/PBDRobotics/Link.h b/Source/PBDRobotics/Link.h
index 830f8f0..8c27f20 100644
--- a/Source/PBDRobotics/Link.h
+++ b/Source/PBDRobotics/Link.h
@@ -30,10 +30,10 @@ public:
 	Vector3d Last_Position;
 	Quaterniond Last_Orientation;
 	
-	UPROPERTY(EditAnywhere, BlueprintReadWrite)
+	UPROPERTY()
 	UJoint* PrevJoint;
 
-	UPROPERTY(EditAnywhere, BlueprintReadWrite)
+	UPROPERTY()
 	UJoint* NextJoint;
 
 	UFUNCTION(BlueprintCallable)
@@ -59,10 +59,11 @@ public:
 	bool IsEffector = false;
 
 	Vector3d GetGravityForce() const;
-	Matrix3d Inertia_Tensor_Local;
 private:
 	UPROPERTY(EditAnywhere)
 	bool IsBase = false;
+
+	Matrix3d Inertia_Tensor_Local;
 	
 	void SetupJoints() const;
 	void SetupProperties();
diff --git a/Source/PBDRobotics/Robot.h b/Source/PBDRobotics/Robot.h
index e372279..44c9663 100644
--- a/Source/PBDRobotics/Robot.h
+++ b/Source/PBDRobotics/Robot.h
@@ -17,10 +17,10 @@ public:
 protected:
 	virtual void BeginPlay() override;
 
-	UPROPERTY(BlueprintReadWrite)
+	UPROPERTY()
 	TArray<ULink*> Links = TArray<ULink*>();
 
-	UPROPERTY(BlueprintReadWrite)
+	UPROPERTY()
 	TArray<UJoint*> Joints = TArray<UJoint*>();
 
 	UFUNCTION(BlueprintCallable)