diff --git a/graphics/graphics_grid.py b/graphics/graphics_grid.py
index c4bcdc738..2a6f72aef 100644
--- a/graphics/graphics_grid.py
+++ b/graphics/graphics_grid.py
@@ -9,6 +9,14 @@ def __init__(self):
         # Save the current camera settings
         self.camera_pos = scene.camera.pos
         self.camera_axes = scene.camera.axis
+
+        # Private parameters for indexing in grid_object
+        self.__xy_plane_idx = 0
+        self.__xz_plane_idx = 1
+        self.__yz_plane_idx = 2
+        self.__planes_idx = 0
+        self.__labels_idx = 1
+
         # Initialise a grid object
         # grid_object[0] will always be the 3 plane graphics. [XY, XZ, YZ] (alphabetical in order and connection)
         # grid_object[1] will always be the labels. There is always a certain number of indices.
@@ -16,6 +24,8 @@ def __init__(self):
         self.grid_object = [[], []]
         self.__init_grid()
 
+
+
     def __init_grid(self):
         """
         Initialise the grid along the x, y, z axes.
@@ -25,10 +35,10 @@ def __init_grid(self):
         relative_cam = True  # Whether the grid follows the camera rotation and movement
 
         the_grid = self.__create_grid_objects(relative_cam, num_squares)
-        self.grid_object[0] = the_grid
+        self.grid_object[self.__planes_idx] = the_grid
 
         # Update the labels instead of recreating them
-        update_grid_numbers(self.grid_object[1], relative_cam, num_squares)
+        update_grid_numbers(self.grid_object[self.__labels_idx], relative_cam, num_squares)
 
     def __create_grid_objects(self, bool_camera_relative, num_squares):
         """
@@ -124,7 +134,10 @@ def __create_grid_objects(self, bool_camera_relative, num_squares):
         yz_plane = compound(yz_lines)
 
         # Combine all into one list
-        grid = [xy_plane, xz_plane, yz_plane]
+        grid = [None, None, None]
+        grid[self.__xy_plane_idx] = xy_plane
+        grid[self.__xz_plane_idx] = xz_plane
+        grid[self.__yz_plane_idx] = yz_plane
 
         return grid
 
@@ -174,21 +187,21 @@ def __move_grid_objects(self, bool_camera_relative, num_squares):
 
         # XY Plane
         if camera_axes.z < 0:
-            self.grid_object[0][0].pos = vector(x_middle, y_middle, min_z_coord)
+            self.grid_object[self.__planes_idx][self.__xy_plane_idx].pos = vector(x_middle, y_middle, min_z_coord)
         else:
-            self.grid_object[0][0].pos = vector(x_middle, y_middle, max_z_coord)
+            self.grid_object[self.__planes_idx][self.__xy_plane_idx].pos = vector(x_middle, y_middle, max_z_coord)
 
         # XZ Plane
         if camera_axes.y < 0:
-            self.grid_object[0][1].pos = vector(x_middle, min_y_coord, z_middle)
+            self.grid_object[self.__planes_idx][self.__xz_plane_idx].pos = vector(x_middle, min_y_coord, z_middle)
         else:
-            self.grid_object[0][1].pos = vector(x_middle, max_y_coord, z_middle)
+            self.grid_object[self.__planes_idx][self.__xz_plane_idx].pos = vector(x_middle, max_y_coord, z_middle)
 
         # YZ Plane
         if camera_axes.x < 0:
-            self.grid_object[0][2].pos = vector(min_x_coord, y_middle, z_middle)
+            self.grid_object[self.__planes_idx][self.__yz_plane_idx].pos = vector(min_x_coord, y_middle, z_middle)
         else:
-            self.grid_object[0][2].pos = vector(max_x_coord, y_middle, z_middle)
+            self.grid_object[self.__planes_idx][self.__yz_plane_idx].pos = vector(max_x_coord, y_middle, z_middle)
 
     def update_grid(self):
         """
@@ -212,7 +225,7 @@ def update_grid(self):
             num_squares = 10  # Length of the grid in each direction (in units)
             relative_cam = True  # Whether the grid follows the camera rotation and movement
             self.__move_grid_objects(relative_cam, num_squares)
-            update_grid_numbers(self.grid_object[1], relative_cam, num_squares)
+            update_grid_numbers(self.grid_object[self.__labels_idx], relative_cam, num_squares)
 
         # Else save current grid
         else:
@@ -226,9 +239,9 @@ def set_visibility(self, is_visible):
         :param is_visible: Boolean of whether to display the grid
         :type is_visible: bool
         """
-        for plane in self.grid_object[0]:
+        for plane in self.grid_object[self.__planes_idx]:
             plane.visible = is_visible
-        for number in self.grid_object[1]:
+        for number in self.grid_object[self.__labels_idx]:
             number.visible = is_visible
         
     def clear_scene(self):
@@ -246,7 +259,7 @@ def clear_scene(self):
         and have the user assume they are all deleted. However, all objects can be redisplayed by setting the visibility
         """
         # Save current grid visibility
-        grid_visibility = self.grid_object[0][0].visible
+        grid_visibility = self.grid_object[self.__planes_idx][self.__xy_plane_idx].visible
 
         # Set all objects invisible
         for scene_object in scene.objects:
diff --git a/graphics/graphics_stl.py b/graphics/graphics_stl.py
index 1cec8f8b1..93a75b2d3 100644
--- a/graphics/graphics_stl.py
+++ b/graphics/graphics_stl.py
@@ -1,8 +1,8 @@
 from vpython import *
 from graphics.common_functions import *
+from stl import mesh
 
 
-# TODO maybe change input to include extension? Or have entire path as input?
 def import_object_from_stl(filename):
     """
     Import an stl object and convert it into a usable vpython object.
@@ -14,10 +14,11 @@ def import_object_from_stl(filename):
     :type filename: str
     :return: Compound object of a collection of triangles formed from an stl file.
     :rtype: class:`vpython.compound`
-    """
-    # TODO: put error handling in case binary stl file used instead of ascii
 
-    # TODO: put error handling in case of bad file
+    .. deprecated::
+        A new function using numpy import is available. It accepts both ASCII and BINARY formats.
+    """
+    raise DeprecationWarning("This function is outdated. Use import_object_from_numpy_stl")
 
     # Open the file
     filepath = './graphics/models/' + filename + '.stl'
@@ -63,6 +64,63 @@ def import_object_from_stl(filename):
     return compound(triangles)
 
 
+def import_object_from_numpy_stl(filename):
+    """
+    Import either an ASCII or BINARY file format of an STL file.
+    The triangles will be combined into a single compound entity.
+
+    :param filename: Path of the stl file to import.
+    :type filename: str
+    :return: Compound object of a collection of triangles formed from an stl file.
+    :rtype: class:`vpython.compound`
+    """
+    # Load the mesh using NumPy-STL
+    the_mesh = mesh.Mesh.from_file(filename)
+
+    num_faces = len(the_mesh.vectors)
+    triangles = []
+
+    # For every face in the model
+    for face in range(0, num_faces):
+        # Get the (3) 3D points
+        point0 = the_mesh.vectors[face][0]
+        point1 = the_mesh.vectors[face][1]
+        point2 = the_mesh.vectors[face][2]
+
+        # Get the normal direction for the face
+        normal0 = the_mesh.normals[face][0]
+        normal1 = the_mesh.normals[face][1]
+        normal2 = the_mesh.normals[face][2]
+        normal = vec(normal0, normal1, normal2)
+
+        # Create the VPython 3D points
+        vertex0 = vertex(
+            pos=vec(point0[0], point0[1], point0[2]),
+            normal=normal,
+            color=color.white
+        )
+        vertex1 = vertex(
+            pos=vec(point1[0], point1[1], point1[2]),
+            normal=normal,
+            color=color.white
+        )
+        vertex2 = vertex(
+            pos=vec(point2[0], point2[1], point2[2]),
+            normal=normal,
+            color=color.white
+        )
+
+        # Combine them in a list
+        vertices = [vertex0, vertex1, vertex2]
+
+        # Create a triangle using the points, and add it to the list
+        triangles.append(triangle(vs=vertices))
+
+    # Return a compound of the triangles
+    visual_mesh = compound(triangles)
+    return visual_mesh
+
+
 def set_stl_origin(stl_obj, current_obj_origin, required_obj_origin):
     """
     Move the object so the required origin is at (0, 0, 0). Then set the origin for the generated stl object.
diff --git a/graphics/model_puma560.py b/graphics/model_puma560.py
index 7e0bceb31..0c6e75325 100644
--- a/graphics/model_puma560.py
+++ b/graphics/model_puma560.py
@@ -31,7 +31,7 @@ def create_link_0():
     :rtype: class:`graphics.graphics_robot.RotationalJoint
     """
     # Load the STL file into an object
-    stl_obj = import_object_from_stl(filename='link0')
+    stl_obj = import_object_from_numpy_stl('./graphics/models/link0.stl')
     # Orient the object so that it's origin and toolpoint in known locations
     # This way, rotations are relative to the correct 3D position of the object
     stl_obj_z_origin = stl_obj.pos.z - stl_obj.width / 2
@@ -60,7 +60,7 @@ def create_link_1():
         :rtype: class:`graphics.graphics_robot.StaticJoint
         """
     # Load the STL file into an object
-    stl_obj = import_object_from_stl(filename='link1')
+    stl_obj = import_object_from_numpy_stl('./graphics/models/link1.stl')
     # Orient the object so that it's origin and toolpoint in known locations
     # This way, rotations are relative to the correct 3D position of the object
     stl_obj.rotate(angle=radians(90), axis=y_axis_vector, origin=vector(0, 0, 0))
@@ -92,7 +92,7 @@ def create_link_2():
         :rtype: class:`graphics.graphics_robot.RotationalJoint
         """
     # Load the STL file into an object
-    stl_obj = import_object_from_stl('link2')
+    stl_obj = import_object_from_numpy_stl('./graphics/models/link2.stl')
     # Orient the object so that it's origin and toolpoint in known locations
     # This way, rotations are relative to the correct 3D position of the object
     stl_obj.rotate(angle=radians(-90), axis=x_axis_vector, origin=vector(0, 0, 0))
@@ -124,7 +124,7 @@ def create_link_3():
         :rtype: class:`graphics.graphics_robot.RotationalJoint
         """
     # Load the STL file into an object
-    stl_obj = import_object_from_stl('link3')
+    stl_obj = import_object_from_numpy_stl('./graphics/models/link3.stl')
     # Orient the object so that it's origin and toolpoint in known locations
     # This way, rotations are relative to the correct 3D position of the object
     stl_obj.rotate(angle=radians(90), axis=y_axis_vector, origin=vector(0, 0, 0))
@@ -156,7 +156,7 @@ def create_link_4():
         :rtype: class:`graphics.graphics_robot.RotationalJoint
         """
     # Load the STL file into an object
-    stl_obj = import_object_from_stl('link4')
+    stl_obj = import_object_from_numpy_stl('./graphics/models/link4.stl')
     # Orient the object so that it's origin and toolpoint in known locations
     # This way, rotations are relative to the correct 3D position of the object
     stl_obj.rotate(angle=radians(-90), axis=z_axis_vector, origin=vector(0, 0, 0))
@@ -187,7 +187,7 @@ def create_link_5():
         :rtype: class:`graphics.graphics_robot.RotationalJoint
         """
     # Load the STL file into an object
-    stl_obj = import_object_from_stl('link5')
+    stl_obj = import_object_from_numpy_stl('./graphics/models/link5.stl')
     # Orient the object so that it's origin and toolpoint in known locations
     # This way, rotations are relative to the correct 3D position of the object
     stl_obj.rotate(angle=radians(90), axis=x_axis_vector, origin=vector(0, 0, 0))
@@ -218,7 +218,7 @@ def create_link_6():
         :rtype: class:`graphics.graphics_robot.Gripper
         """
     # Load the STL file into an object
-    stl_obj = import_object_from_stl('link6')
+    stl_obj = import_object_from_numpy_stl('./graphics/models/link6.stl')
     # Orient the object so that it's origin and toolpoint in known locations
     # This way, rotations are relative to the correct 3D position of the object
     stl_obj.rotate(angle=radians(90), axis=y_axis_vector, origin=vector(0, 0, 0))