diff --git a/meshes/ur5/collision/base.stl b/meshes/ur5/collision/base.stl
index 4eb2f7e..21c8a11 100644
Binary files a/meshes/ur5/collision/base.stl and b/meshes/ur5/collision/base.stl differ
diff --git a/meshes/ur5/visual/base.dae b/meshes/ur5/visual/base.dae
index 9343cf5..8c23e57 100644
--- a/meshes/ur5/visual/base.dae
+++ b/meshes/ur5/visual/base.dae
@@ -1,161 +1,52 @@
 <?xml version="1.0" encoding="utf-8"?>
-<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
   <asset>
     <contributor>
       <author>Blender User</author>
-      <authoring_tool>Blender 2.79.0</authoring_tool>
+      <authoring_tool>Blender 4.0.2 commit date:2023-12-05, commit time:07:41, hash:9be62e85b727</authoring_tool>
     </contributor>
-    <created>2018-07-11T13:41:01</created>
-    <modified>2018-07-11T13:41:01</modified>
+    <created>2023-12-21T16:36:40</created>
+    <modified>2023-12-21T16:36:40</modified>
     <unit name="meter" meter="1"/>
     <up_axis>Z_UP</up_axis>
   </asset>
-  <library_cameras>
-    <camera id="Camera-camera" name="Camera">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">49.13434</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <YF_dofdist>0</YF_dofdist>
-          <shiftx>0</shiftx>
-          <shifty>0</shifty>
-        </technique>
-      </extra>
-    </camera>
-  </library_cameras>
-  <library_lights>
-    <light id="Lamp-light" name="Lamp">
-      <technique_common>
-        <point>
-          <color sid="color">1 1 1</color>
-          <constant_attenuation>1</constant_attenuation>
-          <linear_attenuation>0</linear_attenuation>
-          <quadratic_attenuation>0.00111109</quadratic_attenuation>
-        </point>
-      </technique_common>
-      <extra>
-        <technique profile="blender">
-          <adapt_thresh>0.000999987</adapt_thresh>
-          <area_shape>1</area_shape>
-          <area_size>0.1</area_size>
-          <area_sizey>0.1</area_sizey>
-          <area_sizez>1</area_sizez>
-          <atm_distance_factor>1</atm_distance_factor>
-          <atm_extinction_factor>1</atm_extinction_factor>
-          <atm_turbidity>2</atm_turbidity>
-          <att1>0</att1>
-          <att2>1</att2>
-          <backscattered_light>1</backscattered_light>
-          <bias>1</bias>
-          <blue>1</blue>
-          <buffers>1</buffers>
-          <bufflag>0</bufflag>
-          <bufsize>2880</bufsize>
-          <buftype>2</buftype>
-          <clipend>30.002</clipend>
-          <clipsta>1.000799</clipsta>
-          <compressthresh>0.04999995</compressthresh>
-          <dist sid="blender_dist">29.99998</dist>
-          <energy sid="blender_energy">1</energy>
-          <falloff_type>2</falloff_type>
-          <filtertype>0</filtertype>
-          <flag>0</flag>
-          <gamma sid="blender_gamma">1</gamma>
-          <green>1</green>
-          <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
-          <horizon_brightness>1</horizon_brightness>
-          <mode>8192</mode>
-          <ray_samp>1</ray_samp>
-          <ray_samp_method>1</ray_samp_method>
-          <ray_samp_type>0</ray_samp_type>
-          <ray_sampy>1</ray_sampy>
-          <ray_sampz>1</ray_sampz>
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-          <samp>3</samp>
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-          <shadow_b sid="blender_shadow_b">0</shadow_b>
-          <shadow_g sid="blender_shadow_g">0</shadow_g>
-          <shadow_r sid="blender_shadow_r">0</shadow_r>
-          <sky_colorspace>0</sky_colorspace>
-          <sky_exposure>1</sky_exposure>
-          <skyblendfac>1</skyblendfac>
-          <skyblendtype>1</skyblendtype>
-          <soft>3</soft>
-          <spotblend>0.15</spotblend>
-          <spotsize>75</spotsize>
-          <spread>1</spread>
-          <sun_brightness>1</sun_brightness>
-          <sun_effect_type>0</sun_effect_type>
-          <sun_intensity>1</sun_intensity>
-          <sun_size>1</sun_size>
-          <type>0</type>
-        </technique>
-      </extra>
-    </light>
-  </library_lights>
-  <library_images/>
   <library_effects>
     <effect id="Rohr-effect">
       <profile_COMMON>
         <technique sid="common">
-          <phong>
+          <lambert>
             <emission>
               <color sid="emission">0 0 0 1</color>
             </emission>
-            <ambient>
-              <color sid="ambient">0.5 0.5 0.5 1</color>
-            </ambient>
             <diffuse>
               <color sid="diffuse">0.5248 0.5248 0.5248 1</color>
             </diffuse>
-            <specular>
-              <color sid="specular">0.125 0.125 0.125 1</color>
-            </specular>
-            <shininess>
-              <float sid="shininess">1</float>
-            </shininess>
             <index_of_refraction>
-              <float sid="index_of_refraction">1</float>
+              <float sid="ior">1</float>
             </index_of_refraction>
-          </phong>
+          </lambert>
         </technique>
       </profile_COMMON>
     </effect>
     <effect id="Scheibe-effect">
       <profile_COMMON>
         <technique sid="common">
-          <phong>
+          <lambert>
             <emission>
               <color sid="emission">0 0 0 1</color>
             </emission>
-            <ambient>
-              <color sid="ambient">0.5 0.5 0.5 1</color>
-            </ambient>
             <diffuse>
               <color sid="diffuse">0.064 0.064 0.064 1</color>
             </diffuse>
-            <specular>
-              <color sid="specular">0.125 0.125 0.125 1</color>
-            </specular>
-            <shininess>
-              <float sid="shininess">1</float>
-            </shininess>
             <index_of_refraction>
-              <float sid="index_of_refraction">1</float>
+              <float sid="ior">1</float>
             </index_of_refraction>
-          </phong>
+          </lambert>
         </technique>
       </profile_COMMON>
     </effect>
   </library_effects>
+  <library_images/>
   <library_materials>
     <material id="Rohr-material" name="Rohr">
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@@ -168,7 +59,7 @@
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           <technique_common>
-            <accessor source="#ActorShape0_0-Mesh_021-mesh-normals-array" count="1322" stride="3">
+            <accessor source="#ActorShape0_0-Mesh_021-mesh-normals-array" count="1630" stride="3">
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               <param name="Y" type="float"/>
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@@ -193,27 +84,18 @@
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           <input semantic="NORMAL" source="#ActorShape0_0-Mesh_021-mesh-normals" offset="1"/>
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-  <library_controllers/>
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