diff --git "a/ur5e/visual/forearm.dae" "b/ur5e/visual/forearm.dae"
new file mode 100644--- /dev/null
+++ "b/ur5e/visual/forearm.dae"
@@ -0,0 +1,445 @@
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+      <author>Blender User</author>
+      <authoring_tool>Blender 2.78.0 commit date:2017-02-24, commit time:14:33, hash:e92f2352830</authoring_tool>
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+    <modified>2018-08-21T10:31:31</modified>
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548 1027 487 1028 548 1028 486 1028 549 1029 524 1029 483 1029 549 1030 483 1030 550 1030 550 1031 483 1031 482 1031 550 1032 482 1032 551 1032 482 1033 480 1033 551 1033 551 1034 480 1034 552 1034 552 1035 480 1035 477 1035 552 1036 477 1036 478 1036 552 1037 478 1037 553 1037 553 1038 478 1038 474 1038 553 1039 474 1039 554 1039 554 1040 474 1040 472 1040 554 1041 472 1041 471 1041 554 1042 471 1042 555 1042 471 1043 469 1043 555 1043 555 1044 469 1044 556 1044 556 1045 469 1045 467 1045 556 1046 467 1046 466 1046 556 1047 466 1047 557 1047 557 1048 466 1048 463 1048 557 1049 463 1049 558 1049 522 1050 559 1050 462 1050 462 1051 559 1051 558 1051 462 1052 558 1052 463 1052 522 1053 460 1053 559 1053 559 1054 460 1054 560 1054 520 1055 561 1055 459 1055 459 1056 561 1056 560 1056 459 1057 560 1057 460 1057 561 1058 520 1058 455 1058 561 1059 455 1059 562 1059 455 1060 456 1060 562 1060 562 1061 456 1061 563 1061 563 1062 456 1062 519 1062 563 1063 519 1063 452 1063 563 1064 452 1064 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+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="eSeries_UR5e_028" name="eSeries_UR5e_028" type="NODE">
+        <matrix sid="transform">-9.99987e-4 0 -3.25837e-10 0 -3.25837e-10 4.37108e-11 9.99987e-4 0 0 9.99987e-4 -4.37108e-11 0 0 0 0 1</matrix>
+        <instance_geometry url="#eSeries_UR5e_028-mesh" name="eSeries_UR5e_028">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="JointGrey-material" target="#JointGrey-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="eSeries_UR5e_020" name="eSeries_UR5e_020" type="NODE">
+        <matrix sid="transform">-9.99987e-4 0 -3.25837e-10 0 -3.25837e-10 4.37108e-11 9.99987e-4 0 0 9.99987e-4 -4.37108e-11 0 0 0 0 1</matrix>
+        <instance_geometry url="#eSeries_UR5e_077-mesh" name="eSeries_UR5e_020">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="JointGrey-material" target="#JointGrey-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="eSeries_UR5e_021" name="eSeries_UR5e_021" type="NODE">
+        <matrix sid="transform">-9.99987e-4 0 -3.25837e-10 0 -3.25837e-10 4.37108e-11 9.99987e-4 0 0 9.99987e-4 -4.37108e-11 0 0 0 0 1</matrix>
+        <instance_geometry url="#eSeries_UR5e_078-mesh" name="eSeries_UR5e_021">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Black-material" target="#Black-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="eSeries_UR5e_022" name="eSeries_UR5e_022" type="NODE">
+        <matrix sid="transform">-9.99987e-4 0 -3.25837e-10 0 -3.25837e-10 4.37108e-11 9.99987e-4 0 0 9.99987e-4 -4.37108e-11 0 0 0 0 1</matrix>
+        <instance_geometry url="#eSeries_UR5e_079-mesh" name="eSeries_UR5e_022">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="LinkGrey-material" target="#LinkGrey-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="eSeries_UR5e_023" name="eSeries_UR5e_023" type="NODE">
+        <matrix sid="transform">-9.99987e-4 0 -3.25837e-10 0 -3.25837e-10 4.37108e-11 9.99987e-4 0 0 9.99987e-4 -4.37108e-11 0 0 0 0 1</matrix>
+        <instance_geometry url="#eSeries_UR5e_080-mesh" name="eSeries_UR5e_023">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Black-material" target="#Black-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="eSeries_UR5e_024" name="eSeries_UR5e_024" type="NODE">
+        <matrix sid="transform">-9.99987e-4 0 -3.25837e-10 0 -3.25837e-10 4.37108e-11 9.99987e-4 0 0 9.99987e-4 -4.37108e-11 0 0 0 0 1</matrix>
+        <instance_geometry url="#eSeries_UR5e_081-mesh" name="eSeries_UR5e_024">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="URBlue-material" target="#URBlue-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="eSeries_UR5e_025" name="eSeries_UR5e_025" type="NODE">
+        <matrix sid="transform">-9.99987e-4 0 -3.25837e-10 0 -3.25837e-10 4.37108e-11 9.99987e-4 0 0 9.99987e-4 -4.37108e-11 0 0 0 0 1</matrix>
+        <instance_geometry url="#eSeries_UR5e_082-mesh" name="eSeries_UR5e_025">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Black-material" target="#Black-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file