diff --git a/render.png b/render.png
index 2d98ecc..470fead 100644
Binary files a/render.png and b/render.png differ
diff --git a/robot.json b/robot.json
index aa2eb8b..eb3b2ca 100644
--- a/robot.json
+++ b/robot.json
@@ -81,7 +81,7 @@
     "x": 150,
     "y": 30,
     "z": -60,
-    "a": 220,
+    "a": 270,
     "b": 30,
     "c": 70,
     "e": 0
@@ -116,7 +116,16 @@
         "radius": 4,
         "color": [0.85, 0.20, 0.20]
       },
-      "markers": [
+      "markers":[         
+        {"id":205,"position":[800, -90, 0.3], "normal":[0,0,1]},
+        {"id":206,"position":[600,   0, 0.3], "normal":[0,0,1]},
+        {"id":207,"position":[800,   0, 0.3], "normal":[0,0,1]},        
+        {"id":208,"position":[500, -90, 0.3], "normal":[0,0,1]},
+        {"id":210,"position":[0,   0.0, 0.3], "normal":[0,0,1]},
+        {"id":211,"position":[200, 0.0, 0.3], "normal":[0,0,1]},
+        {"id":214,"position":[400, 0.0, 0.3], "normal":[0,0,1]},
+        {"id":215,"position":[200, -90, 0.3], "normal":[0,0,1]},
+        {"id":217,"position":[600, -90, 0.3], "normal":[0,0,1]}
       ],
       "model": [
         {
@@ -215,7 +224,7 @@
           "size": 25,
           "spin": 0
         }
-    ],
+      ],
       "model": [
         {
           "stlFile": "surfaces/Holm.stl",
@@ -310,7 +319,27 @@
         "to": [0, -250, 0],
         "radius": 4,
         "color": [0.95, 0.85, 0.20]
-      }
+      },
+      "model": [
+        {
+          "stlFile": "surfaces/Unterarm.stl",
+          "originOfModel": [0,-250,0],
+          "rotationOfModelDegree": [180, 0, -90],
+          "material": "defaultPlastic"
+        }
+      ], 
+      "markers":[
+        {"id":126, "position":[40,120,0], "normal":[1,0,0]},
+        {"id":228,"on":"Arm2", "position":[-24.75, -112, 24.75],"normal":[-1,0,1],  "relPosSource":["Fusion","Fusion","Fusion"]},
+        {"id": 122,"on":"Arm2", "position":[-24.75, -182, 24.75],"normal":[-1,0,1],  "relPosSource":["Fusion","Fusion","Fusion"]},
+        {"id": 123,"on":"Arm2", "position":[-35,-112,0], "normal":[-1,0,0],          "relPosSource":["Fusion","Fusion","Fusion"]},
+        {"id": 124,"on":"Arm2", "position":[-35,-219,0], "normal":[-1,0,0],          "relPosSource":["Fusion","Fusion","Fusion"]},
+        {"id":223,"on":"Arm2", "position":[-28.67,-112,-20.08], "normal":[-28.67,0,-20.08],   "relPosSource":["Fusion","Fusion","Fusion"]},
+        {"id": 125,"on":"Arm2", "position":[0,-182,-30], "normal":[0,0,-1],          "relPosSource":["Fusion","Fusion","Fusion"]},
+        {"id":218,"on":"Arm2", "position":[35,-112,0], "normal":[1,0,0],           "relPosSource":["Fusion","Fusion","Fusion"]},
+        {"id":219,"on":"Arm2", "position":[35,-219,0], "normal":[1,0,0],           "relPosSource":["Fusion","Fusion","Fusion"]},
+        {"id": 126,"on":"Arm2", "position":[24.75, -182, 24.75], "normal":[1,0,1],  "relPosSource":["Fusion","Fusion","Fusion"]}
+      ]
     },
     "Hand": {
       "parent": "Arm2",