diff --git "a/ur5e/visual/base.dae" "b/ur5e/visual/base.dae"
new file mode 100644--- /dev/null
+++ "b/ur5e/visual/base.dae"
@@ -0,0 +1,172 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.78.0 commit date:2017-02-24, commit time:14:33, hash:e92f2352830</authoring_tool>
+    </contributor>
+    <created>2018-08-20T16:29:20</created>
+    <modified>2018-08-20T16:29:20</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
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+            </emission>
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+            </ambient>
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+            </diffuse>
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+  </library_effects>
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+          <technique_common>
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+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
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+          <input semantic="POSITION" source="#eSeries_UR5e_066-mesh-positions"/>
+        </vertices>
+        <polylist material="Black-material" count="2240">
+          <input semantic="VERTEX" source="#eSeries_UR5e_066-mesh-vertices" offset="0"/>
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1121 2110 1078 2111 1121 2111 1090 2111 1090 2112 1121 2112 1122 2112 1090 2113 1122 2113 1089 2113 1089 2114 1122 2114 1123 2114 1089 2115 1123 2115 1088 2115 1088 2116 1123 2116 1124 2116 1088 2117 1124 2117 1087 2117 1087 2118 1124 2118 1125 2118 1087 2119 1125 2119 1086 2119 1086 2120 1125 2120 1126 2120 1086 2121 1126 2121 1085 2121 1085 2122 1126 2122 1127 2122 1085 2123 1127 2123 1084 2123 1084 2124 1127 2124 1128 2124 1084 2125 1128 2125 1077 2125 1077 2126 1128 2126 1129 2126 1077 2127 1129 2127 1076 2127 1076 2128 1129 2128 1130 2128 1076 2129 1130 2129 1075 2129 1075 2130 1130 2130 1131 2130 1075 2131 1131 2131 1074 2131 1074 2132 1131 2132 1132 2132 1074 2133 1132 2133 1073 2133 1073 2134 1132 2134 1133 2134 1073 2135 1133 2135 1062 2135 1062 2136 1133 2136 1134 2136 1062 2137 1134 2137 1061 2137 1061 2138 1134 2138 1135 2138 1061 2139 1135 2139 1060 2139 1060 2140 1135 2140 1136 2140 1060 2141 1136 2141 1059 2141 1059 2142 1136 2142 1137 2142 1059 2143 1137 2143 1058 2143 1058 2144 1137 2144 1138 2144 1058 2145 1138 2145 1057 2145 1057 2146 1138 2146 1139 2146 1057 2147 1139 2147 1056 2147 1056 2148 1139 2148 1140 2148 1056 2149 1140 2149 1055 2149 1055 2150 1140 2150 1141 2150 1055 2151 1141 2151 1072 2151 1072 2152 1141 2152 1142 2152 1072 2153 1142 2153 1071 2153 1071 2154 1142 2154 1143 2154 1071 2155 1143 2155 1070 2155 1070 2156 1143 2156 1144 2156 1070 2157 1144 2157 1069 2157 1069 2158 1144 2158 1145 2158 1069 2159 1145 2159 1068 2159 1068 2160 1145 2160 1146 2160 1068 2161 1146 2161 1067 2161 1067 2162 1146 2162 1147 2162 1067 2163 1147 2163 1066 2163 1066 2164 1147 2164 1148 2164 1066 2165 1148 2165 1065 2165 1065 2166 1148 2166 1149 2166 1065 2167 1149 2167 1096 2167 1096 2168 1149 2168 1150 2168 1096 2169 1150 2169 1095 2169 1095 2170 1150 2170 1151 2170 1095 2171 1151 2171 1094 2171 1094 2172 1151 2172 1152 2172 1094 2173 1152 2173 1083 2173 1083 2174 1152 2174 1153 2174 1083 2175 1153 2175 1082 2175 1082 2176 1153 2176 1154 2176 1082 2177 1154 2177 1081 2177 1081 2178 1154 2178 1155 2178 1081 2179 1155 2179 1064 2179 1064 2180 1155 2180 1156 2180 1064 2181 1156 2181 1063 2181 1063 2182 1156 2182 1157 2182 1063 2183 1157 2183 1054 2183 1054 2184 1157 2184 1106 2184 1157 2185 1156 2185 1138 2185 1108 2186 1107 2186 1138 2186 1138 2187 1107 2187 1106 2187 1138 2188 1106 2188 1157 2188 1111 2185 1110 2185 1138 2185 1138 2189 1110 2189 1109 2189 1138 2190 1109 2190 1108 2190 1114 2185 1113 2185 1138 2185 1138 2185 1113 2185 1112 2185 1138 2191 1112 2191 1111 2191 1117 2192 1116 2192 1138 2192 1138 2193 1116 2193 1115 2193 1138 2185 1115 2185 1114 2185 1120 2185 1119 2185 1138 2185 1138 2185 1119 2185 1118 2185 1138 2194 1118 2194 1117 2194 1123 2195 1122 2195 1138 2195 1138 2185 1122 2185 1121 2185 1138 2196 1121 2196 1120 2196 1126 2185 1125 2185 1138 2185 1138 2185 1125 2185 1124 2185 1138 2197 1124 2197 1123 2197 1129 2185 1128 2185 1138 2185 1138 2198 1128 2198 1127 2198 1138 2199 1127 2199 1126 2199 1132 2185 1131 2185 1138 2185 1138 2200 1131 2200 1130 2200 1138 2201 1130 2201 1129 2201 1135 2202 1134 2202 1138 2202 1138 2203 1134 2203 1133 2203 1138 2204 1133 2204 1132 2204 1138 2185 1137 2185 1136 2185 1138 2205 1136 2205 1135 2205 1141 2185 1140 2185 1138 2185 1138 2206 1140 2206 1139 2206 1144 2185 1143 2185 1138 2185 1138 2185 1143 2185 1142 2185 1138 2207 1142 2207 1141 2207 1147 2185 1146 2185 1138 2185 1138 2208 1146 2208 1145 2208 1138 2209 1145 2209 1144 2209 1150 2185 1149 2185 1138 2185 1138 2210 1149 2210 1148 2210 1138 2185 1148 2185 1147 2185 1153 2185 1152 2185 1138 2185 1138 2185 1152 2185 1151 2185 1138 2211 1151 2211 1150 2211 1156 2185 1155 2185 1138 2185 1138 2212 1155 2212 1154 2212 1138 2213 1154 2213 1153 2213</p>
+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="eSeries_UR5e_013" name="eSeries_UR5e_013" 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_013-mesh" name="eSeries_UR5e_013">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="JointGrey-material" target="#JointGrey-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="eSeries_UR5e_006" name="eSeries_UR5e_006" 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_066-mesh" name="eSeries_UR5e_006">
+          <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