diff --git a/robots/anymal_b_simple_description/meshes/base/anymal_base.dae b/robots/anymal_b_simple_description/meshes/base/anymal_base.dae
index df1d10b9bb05a89c8e74e3e13c8ea4828e614f4d..5b2179071ab3bfacaf9f0b366afdc7b8a03d2e53 100644
--- a/robots/anymal_b_simple_description/meshes/base/anymal_base.dae
+++ b/robots/anymal_b_simple_description/meshes/base/anymal_base.dae
@@ -31,416 +31,6 @@
</extra>
</camera>
</library_cameras>
- <library_lights>
- <light id="Point-light" name="Point.002">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.001599967</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <type sid="type" type="int">0</type>
- <flag sid="flag" type="int">0</flag>
- <mode sid="mode" type="int">1</mode>
- <gamma sid="blender_gamma" type="float">1</gamma>
- <red sid="red" type="float">1</red>
- <green sid="green" type="float">1</green>
- <blue sid="blue" type="float">1</blue>
- <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
- <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
- <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
- <energy sid="blender_energy" type="float">1</energy>
- <dist sid="blender_dist" type="float">25</dist>
- <spotsize sid="spotsize" type="float">45</spotsize>
- <spotblend sid="spotblend" type="float">0.15</spotblend>
- <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
- <att1 sid="att1" type="float">0</att1>
- <att2 sid="att2" type="float">1</att2>
- <falloff_type sid="falloff_type" type="int">2</falloff_type>
- <clipsta sid="clipsta" type="float">0.5</clipsta>
- <clipend sid="clipend" type="float">40</clipend>
- <bias sid="bias" type="float">1</bias>
- <soft sid="soft" type="float">3</soft>
- <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
- <bufsize sid="bufsize" type="int">512</bufsize>
- <samp sid="samp" type="int">3</samp>
- <buffers sid="buffers" type="int">1</buffers>
- <filtertype sid="filtertype" type="int">0</filtertype>
- <bufflag sid="bufflag" type="int">0</bufflag>
- <buftype sid="buftype" type="int">2</buftype>
- <ray_samp sid="ray_samp" type="int">1</ray_samp>
- <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
- <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
- <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
- <area_shape sid="area_shape" type="int">0</area_shape>
- <area_size sid="area_size" type="float">0.1</area_size>
- <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
- <area_sizez sid="area_sizez" type="float">0.1</area_sizez>
- <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
- <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
- <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
- <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
- <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
- <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
- <spread sid="spread" type="float">1</spread>
- <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
- <sun_size sid="sun_size" type="float">1</sun_size>
- <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
- <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
- <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
- <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
- <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
- <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
- <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
- <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
- </technique>
- </extra>
- </light>
- <light id="Point_001-light" name="Point.003">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.001599967</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <type sid="type" type="int">0</type>
- <flag sid="flag" type="int">0</flag>
- <mode sid="mode" type="int">1</mode>
- <gamma sid="blender_gamma" type="float">1</gamma>
- <red sid="red" type="float">1</red>
- <green sid="green" type="float">1</green>
- <blue sid="blue" type="float">1</blue>
- <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
- <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
- <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
- <energy sid="blender_energy" type="float">1</energy>
- <dist sid="blender_dist" type="float">25</dist>
- <spotsize sid="spotsize" type="float">45</spotsize>
- <spotblend sid="spotblend" type="float">0.15</spotblend>
- <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
- <att1 sid="att1" type="float">0</att1>
- <att2 sid="att2" type="float">1</att2>
- <falloff_type sid="falloff_type" type="int">2</falloff_type>
- <clipsta sid="clipsta" type="float">0.5</clipsta>
- <clipend sid="clipend" type="float">40</clipend>
- <bias sid="bias" type="float">1</bias>
- <soft sid="soft" type="float">3</soft>
- <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
- <bufsize sid="bufsize" type="int">512</bufsize>
- <samp sid="samp" type="int">3</samp>
- <buffers sid="buffers" type="int">1</buffers>
- <filtertype sid="filtertype" type="int">0</filtertype>
- <bufflag sid="bufflag" type="int">0</bufflag>
- <buftype sid="buftype" type="int">2</buftype>
- <ray_samp sid="ray_samp" type="int">1</ray_samp>
- <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
- <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
- <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
- <area_shape sid="area_shape" type="int">0</area_shape>
- <area_size sid="area_size" type="float">0.1</area_size>
- <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
- <area_sizez sid="area_sizez" type="float">0.1</area_sizez>
- <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
- <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
- <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
- <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
- <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
- <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
- <spread sid="spread" type="float">1</spread>
- <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
- <sun_size sid="sun_size" type="float">1</sun_size>
- <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
- <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
- <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
- <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
- <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
- <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
- <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
- <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
- </technique>
- </extra>
- </light>
- <light id="Point_002-light" name="Point.004">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.001599967</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <type sid="type" type="int">0</type>
- <flag sid="flag" type="int">0</flag>
- <mode sid="mode" type="int">1</mode>
- <gamma sid="blender_gamma" type="float">1</gamma>
- <red sid="red" type="float">1</red>
- <green sid="green" type="float">1</green>
- <blue sid="blue" type="float">1</blue>
- <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
- <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
- <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
- <energy sid="blender_energy" type="float">1</energy>
- <dist sid="blender_dist" type="float">25</dist>
- <spotsize sid="spotsize" type="float">45</spotsize>
- <spotblend sid="spotblend" type="float">0.15</spotblend>
- <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
- <att1 sid="att1" type="float">0</att1>
- <att2 sid="att2" type="float">1</att2>
- <falloff_type sid="falloff_type" type="int">2</falloff_type>
- <clipsta sid="clipsta" type="float">0.5</clipsta>
- <clipend sid="clipend" type="float">40</clipend>
- <bias sid="bias" type="float">1</bias>
- <soft sid="soft" type="float">3</soft>
- <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
- <bufsize sid="bufsize" type="int">512</bufsize>
- <samp sid="samp" type="int">3</samp>
- <buffers sid="buffers" type="int">1</buffers>
- <filtertype sid="filtertype" type="int">0</filtertype>
- <bufflag sid="bufflag" type="int">0</bufflag>
- <buftype sid="buftype" type="int">2</buftype>
- <ray_samp sid="ray_samp" type="int">1</ray_samp>
- <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
- <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
- <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
- <area_shape sid="area_shape" type="int">0</area_shape>
- <area_size sid="area_size" type="float">0.1</area_size>
- <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
- <area_sizez sid="area_sizez" type="float">0.1</area_sizez>
- <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
- <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
- <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
- <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
- <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
- <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
- <spread sid="spread" type="float">1</spread>
- <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
- <sun_size sid="sun_size" type="float">1</sun_size>
- <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
- <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
- <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
- <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
- <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
- <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
- <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
- <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
- </technique>
- </extra>
- </light>
- <light id="Point_003-light" name="Point.005">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.001599967</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <type sid="type" type="int">0</type>
- <flag sid="flag" type="int">0</flag>
- <mode sid="mode" type="int">1</mode>
- <gamma sid="blender_gamma" type="float">1</gamma>
- <red sid="red" type="float">1</red>
- <green sid="green" type="float">1</green>
- <blue sid="blue" type="float">1</blue>
- <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
- <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
- <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
- <energy sid="blender_energy" type="float">1</energy>
- <dist sid="blender_dist" type="float">25</dist>
- <spotsize sid="spotsize" type="float">45</spotsize>
- <spotblend sid="spotblend" type="float">0.15</spotblend>
- <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
- <att1 sid="att1" type="float">0</att1>
- <att2 sid="att2" type="float">1</att2>
- <falloff_type sid="falloff_type" type="int">2</falloff_type>
- <clipsta sid="clipsta" type="float">0.5</clipsta>
- <clipend sid="clipend" type="float">40</clipend>
- <bias sid="bias" type="float">1</bias>
- <soft sid="soft" type="float">3</soft>
- <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
- <bufsize sid="bufsize" type="int">512</bufsize>
- <samp sid="samp" type="int">3</samp>
- <buffers sid="buffers" type="int">1</buffers>
- <filtertype sid="filtertype" type="int">0</filtertype>
- <bufflag sid="bufflag" type="int">0</bufflag>
- <buftype sid="buftype" type="int">2</buftype>
- <ray_samp sid="ray_samp" type="int">1</ray_samp>
- <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
- <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
- <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
- <area_shape sid="area_shape" type="int">0</area_shape>
- <area_size sid="area_size" type="float">0.1</area_size>
- <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
- <area_sizez sid="area_sizez" type="float">0.1</area_sizez>
- <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
- <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
- <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
- <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
- <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
- <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
- <spread sid="spread" type="float">1</spread>
- <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
- <sun_size sid="sun_size" type="float">1</sun_size>
- <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
- <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
- <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
- <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
- <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
- <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
- <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
- <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
- </technique>
- </extra>
- </light>
- <light id="Point_004-light" name="Point.006">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.001599967</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <type sid="type" type="int">0</type>
- <flag sid="flag" type="int">0</flag>
- <mode sid="mode" type="int">1</mode>
- <gamma sid="blender_gamma" type="float">1</gamma>
- <red sid="red" type="float">1</red>
- <green sid="green" type="float">1</green>
- <blue sid="blue" type="float">1</blue>
- <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
- <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
- <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
- <energy sid="blender_energy" type="float">1</energy>
- <dist sid="blender_dist" type="float">25</dist>
- <spotsize sid="spotsize" type="float">45</spotsize>
- <spotblend sid="spotblend" type="float">0.15</spotblend>
- <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
- <att1 sid="att1" type="float">0</att1>
- <att2 sid="att2" type="float">1</att2>
- <falloff_type sid="falloff_type" type="int">2</falloff_type>
- <clipsta sid="clipsta" type="float">0.5</clipsta>
- <clipend sid="clipend" type="float">40</clipend>
- <bias sid="bias" type="float">1</bias>
- <soft sid="soft" type="float">3</soft>
- <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
- <bufsize sid="bufsize" type="int">512</bufsize>
- <samp sid="samp" type="int">3</samp>
- <buffers sid="buffers" type="int">1</buffers>
- <filtertype sid="filtertype" type="int">0</filtertype>
- <bufflag sid="bufflag" type="int">0</bufflag>
- <buftype sid="buftype" type="int">2</buftype>
- <ray_samp sid="ray_samp" type="int">1</ray_samp>
- <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
- <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
- <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
- <area_shape sid="area_shape" type="int">0</area_shape>
- <area_size sid="area_size" type="float">0.1</area_size>
- <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
- <area_sizez sid="area_sizez" type="float">0.1</area_sizez>
- <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
- <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
- <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
- <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
- <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
- <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
- <spread sid="spread" type="float">1</spread>
- <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
- <sun_size sid="sun_size" type="float">1</sun_size>
- <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
- <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
- <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
- <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
- <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
- <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
- <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
- <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
- </technique>
- </extra>
- </light>
- <light id="Point_005-light" name="Point.007">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.001599967</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <type sid="type" type="int">0</type>
- <flag sid="flag" type="int">0</flag>
- <mode sid="mode" type="int">1</mode>
- <gamma sid="blender_gamma" type="float">1</gamma>
- <red sid="red" type="float">1</red>
- <green sid="green" type="float">1</green>
- <blue sid="blue" type="float">1</blue>
- <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
- <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
- <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
- <energy sid="blender_energy" type="float">1</energy>
- <dist sid="blender_dist" type="float">25</dist>
- <spotsize sid="spotsize" type="float">45</spotsize>
- <spotblend sid="spotblend" type="float">0.15</spotblend>
- <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
- <att1 sid="att1" type="float">0</att1>
- <att2 sid="att2" type="float">1</att2>
- <falloff_type sid="falloff_type" type="int">2</falloff_type>
- <clipsta sid="clipsta" type="float">0.5</clipsta>
- <clipend sid="clipend" type="float">40</clipend>
- <bias sid="bias" type="float">1</bias>
- <soft sid="soft" type="float">3</soft>
- <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
- <bufsize sid="bufsize" type="int">512</bufsize>
- <samp sid="samp" type="int">3</samp>
- <buffers sid="buffers" type="int">1</buffers>
- <filtertype sid="filtertype" type="int">0</filtertype>
- <bufflag sid="bufflag" type="int">0</bufflag>
- <buftype sid="buftype" type="int">2</buftype>
- <ray_samp sid="ray_samp" type="int">1</ray_samp>
- <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
- <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
- <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
- <area_shape sid="area_shape" type="int">0</area_shape>
- <area_size sid="area_size" type="float">0.1</area_size>
- <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
- <area_sizez sid="area_sizez" type="float">0.1</area_sizez>
- <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
- <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
- <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
- <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
- <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
- <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
- <spread sid="spread" type="float">1</spread>
- <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
- <sun_size sid="sun_size" type="float">1</sun_size>
- <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
- <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
- <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
- <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
- <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
- <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
- <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
- <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
- </technique>
- </extra>
- </light>
- </library_lights>
<library_images>
<image id="base_uv_texture_jpg" name="base_uv_texture_jpg">
<init_from>base_uv_texture.jpg</init_from>
@@ -1714,30 +1304,6 @@
<matrix sid="transform">-25.87812 -5.2649 23.16105 767.7145 23.72828 -4.202727 25.55654 804.1768 -1.059417 34.47388 6.652798 264.535 0 0 0 1</matrix>
<instance_camera url="#Camera-camera"/>
</node>
- <node id="Point" name="Point" type="NODE">
- <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 20 0 0 0 1</matrix>
- <instance_light url="#Point-light"/>
- </node>
- <node id="Point_001" name="Point_001" type="NODE">
- <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 -20 0 0 0 1</matrix>
- <instance_light url="#Point_001-light"/>
- </node>
- <node id="Point_002" name="Point_002" type="NODE">
- <matrix sid="transform">1 0 0 20 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
- <instance_light url="#Point_002-light"/>
- </node>
- <node id="Point_003" name="Point_003" type="NODE">
- <matrix sid="transform">1 0 0 -20 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
- <instance_light url="#Point_003-light"/>
- </node>
- <node id="Point_004" name="Point_004" type="NODE">
- <matrix sid="transform">1 0 0 0 0 1 0 20 0 0 1 0 0 0 0 1</matrix>
- <instance_light url="#Point_004-light"/>
- </node>
- <node id="Point_005" name="Point_005" type="NODE">
- <matrix sid="transform">1 0 0 0 0 1 0 -20 0 0 1 0 0 0 0 1</matrix>
- <instance_light url="#Point_005-light"/>
- </node>
</visual_scene>
</library_visual_scenes>
<scene>
diff --git a/robots/anymal_b_simple_description/meshes/foot/anymal_foot.dae b/robots/anymal_b_simple_description/meshes/foot/anymal_foot.dae
index 4a3455d38e540a4e67541bfb638a82f628f7d339..c9cd99ce3f6ad17805aa04467e31e644ca41a1c7 100644
--- a/robots/anymal_b_simple_description/meshes/foot/anymal_foot.dae
+++ b/robots/anymal_b_simple_description/meshes/foot/anymal_foot.dae
@@ -31,416 +31,6 @@
</extra>
</camera>
</library_cameras>
- <library_lights>
- <light id="Point-light" name="Point">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.001599967</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <type sid="type" type="int">0</type>
- <flag sid="flag" type="int">0</flag>
- <mode sid="mode" type="int">1</mode>
- <gamma sid="blender_gamma" type="float">1</gamma>
- <red sid="red" type="float">1</red>
- <green sid="green" type="float">1</green>
- <blue sid="blue" type="float">1</blue>
- <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
- <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
- <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
- <energy sid="blender_energy" type="float">1</energy>
- <dist sid="blender_dist" type="float">25</dist>
- <spotsize sid="spotsize" type="float">45</spotsize>
- <spotblend sid="spotblend" type="float">0.15</spotblend>
- <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
- <att1 sid="att1" type="float">0</att1>
- <att2 sid="att2" type="float">1</att2>
- <falloff_type sid="falloff_type" type="int">2</falloff_type>
- <clipsta sid="clipsta" type="float">0.5</clipsta>
- <clipend sid="clipend" type="float">40</clipend>
- <bias sid="bias" type="float">1</bias>
- <soft sid="soft" type="float">3</soft>
- <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
- <bufsize sid="bufsize" type="int">512</bufsize>
- <samp sid="samp" type="int">3</samp>
- <buffers sid="buffers" type="int">1</buffers>
- <filtertype sid="filtertype" type="int">0</filtertype>
- <bufflag sid="bufflag" type="int">0</bufflag>
- <buftype sid="buftype" type="int">2</buftype>
- <ray_samp sid="ray_samp" type="int">1</ray_samp>
- <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
- <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
- <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
- <area_shape sid="area_shape" type="int">0</area_shape>
- <area_size sid="area_size" type="float">0.1</area_size>
- <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
- <area_sizez sid="area_sizez" type="float">0.1</area_sizez>
- <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
- <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
- <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
- <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
- <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
- <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
- <spread sid="spread" type="float">1</spread>
- <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
- <sun_size sid="sun_size" type="float">1</sun_size>
- <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
- <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
- <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
- <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
- <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
- <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
- <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
- <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
- </technique>
- </extra>
- </light>
- <light id="Point_001-light" name="Point.001">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.001599967</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <type sid="type" type="int">0</type>
- <flag sid="flag" type="int">0</flag>
- <mode sid="mode" type="int">1</mode>
- <gamma sid="blender_gamma" type="float">1</gamma>
- <red sid="red" type="float">1</red>
- <green sid="green" type="float">1</green>
- <blue sid="blue" type="float">1</blue>
- <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
- <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
- <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
- <energy sid="blender_energy" type="float">1</energy>
- <dist sid="blender_dist" type="float">25</dist>
- <spotsize sid="spotsize" type="float">45</spotsize>
- <spotblend sid="spotblend" type="float">0.15</spotblend>
- <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
- <att1 sid="att1" type="float">0</att1>
- <att2 sid="att2" type="float">1</att2>
- <falloff_type sid="falloff_type" type="int">2</falloff_type>
- <clipsta sid="clipsta" type="float">0.5</clipsta>
- <clipend sid="clipend" type="float">40</clipend>
- <bias sid="bias" type="float">1</bias>
- <soft sid="soft" type="float">3</soft>
- <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
- <bufsize sid="bufsize" type="int">512</bufsize>
- <samp sid="samp" type="int">3</samp>
- <buffers sid="buffers" type="int">1</buffers>
- <filtertype sid="filtertype" type="int">0</filtertype>
- <bufflag sid="bufflag" type="int">0</bufflag>
- <buftype sid="buftype" type="int">2</buftype>
- <ray_samp sid="ray_samp" type="int">1</ray_samp>
- <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
- <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
- <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
- <area_shape sid="area_shape" type="int">0</area_shape>
- <area_size sid="area_size" type="float">0.1</area_size>
- <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
- <area_sizez sid="area_sizez" type="float">0.1</area_sizez>
- <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
- <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
- <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
- <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
- <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
- <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
- <spread sid="spread" type="float">1</spread>
- <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
- <sun_size sid="sun_size" type="float">1</sun_size>
- <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
- <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
- <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
- <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
- <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
- <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
- <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
- <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
- </technique>
- </extra>
- </light>
- <light id="Point_002-light" name="Point.002">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.001599967</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <type sid="type" type="int">0</type>
- <flag sid="flag" type="int">0</flag>
- <mode sid="mode" type="int">1</mode>
- <gamma sid="blender_gamma" type="float">1</gamma>
- <red sid="red" type="float">1</red>
- <green sid="green" type="float">1</green>
- <blue sid="blue" type="float">1</blue>
- <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
- <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
- <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
- <energy sid="blender_energy" type="float">1</energy>
- <dist sid="blender_dist" type="float">25</dist>
- <spotsize sid="spotsize" type="float">45</spotsize>
- <spotblend sid="spotblend" type="float">0.15</spotblend>
- <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
- <att1 sid="att1" type="float">0</att1>
- <att2 sid="att2" type="float">1</att2>
- <falloff_type sid="falloff_type" type="int">2</falloff_type>
- <clipsta sid="clipsta" type="float">0.5</clipsta>
- <clipend sid="clipend" type="float">40</clipend>
- <bias sid="bias" type="float">1</bias>
- <soft sid="soft" type="float">3</soft>
- <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
- <bufsize sid="bufsize" type="int">512</bufsize>
- <samp sid="samp" type="int">3</samp>
- <buffers sid="buffers" type="int">1</buffers>
- <filtertype sid="filtertype" type="int">0</filtertype>
- <bufflag sid="bufflag" type="int">0</bufflag>
- <buftype sid="buftype" type="int">2</buftype>
- <ray_samp sid="ray_samp" type="int">1</ray_samp>
- <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
- <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
- <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
- <area_shape sid="area_shape" type="int">0</area_shape>
- <area_size sid="area_size" type="float">0.1</area_size>
- <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
- <area_sizez sid="area_sizez" type="float">0.1</area_sizez>
- <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
- <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
- <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
- <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
- <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
- <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
- <spread sid="spread" type="float">1</spread>
- <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
- <sun_size sid="sun_size" type="float">1</sun_size>
- <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
- <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
- <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
- <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
- <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
- <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
- <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
- <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
- </technique>
- </extra>
- </light>
- <light id="Point_003-light" name="Point.003">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.001599967</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <type sid="type" type="int">0</type>
- <flag sid="flag" type="int">0</flag>
- <mode sid="mode" type="int">1</mode>
- <gamma sid="blender_gamma" type="float">1</gamma>
- <red sid="red" type="float">1</red>
- <green sid="green" type="float">1</green>
- <blue sid="blue" type="float">1</blue>
- <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
- <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
- <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
- <energy sid="blender_energy" type="float">1</energy>
- <dist sid="blender_dist" type="float">25</dist>
- <spotsize sid="spotsize" type="float">45</spotsize>
- <spotblend sid="spotblend" type="float">0.15</spotblend>
- <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
- <att1 sid="att1" type="float">0</att1>
- <att2 sid="att2" type="float">1</att2>
- <falloff_type sid="falloff_type" type="int">2</falloff_type>
- <clipsta sid="clipsta" type="float">0.5</clipsta>
- <clipend sid="clipend" type="float">40</clipend>
- <bias sid="bias" type="float">1</bias>
- <soft sid="soft" type="float">3</soft>
- <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
- <bufsize sid="bufsize" type="int">512</bufsize>
- <samp sid="samp" type="int">3</samp>
- <buffers sid="buffers" type="int">1</buffers>
- <filtertype sid="filtertype" type="int">0</filtertype>
- <bufflag sid="bufflag" type="int">0</bufflag>
- <buftype sid="buftype" type="int">2</buftype>
- <ray_samp sid="ray_samp" type="int">1</ray_samp>
- <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
- <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
- <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
- <area_shape sid="area_shape" type="int">0</area_shape>
- <area_size sid="area_size" type="float">0.1</area_size>
- <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
- <area_sizez sid="area_sizez" type="float">0.1</area_sizez>
- <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
- <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
- <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
- <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
- <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
- <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
- <spread sid="spread" type="float">1</spread>
- <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
- <sun_size sid="sun_size" type="float">1</sun_size>
- <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
- <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
- <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
- <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
- <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
- <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
- <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
- <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
- </technique>
- </extra>
- </light>
- <light id="Point_004-light" name="Point.004">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.001599967</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <type sid="type" type="int">0</type>
- <flag sid="flag" type="int">0</flag>
- <mode sid="mode" type="int">1</mode>
- <gamma sid="blender_gamma" type="float">1</gamma>
- <red sid="red" type="float">1</red>
- <green sid="green" type="float">1</green>
- <blue sid="blue" type="float">1</blue>
- <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
- <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
- <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
- <energy sid="blender_energy" type="float">1</energy>
- <dist sid="blender_dist" type="float">25</dist>
- <spotsize sid="spotsize" type="float">45</spotsize>
- <spotblend sid="spotblend" type="float">0.15</spotblend>
- <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
- <att1 sid="att1" type="float">0</att1>
- <att2 sid="att2" type="float">1</att2>
- <falloff_type sid="falloff_type" type="int">2</falloff_type>
- <clipsta sid="clipsta" type="float">0.5</clipsta>
- <clipend sid="clipend" type="float">40</clipend>
- <bias sid="bias" type="float">1</bias>
- <soft sid="soft" type="float">3</soft>
- <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
- <bufsize sid="bufsize" type="int">512</bufsize>
- <samp sid="samp" type="int">3</samp>
- <buffers sid="buffers" type="int">1</buffers>
- <filtertype sid="filtertype" type="int">0</filtertype>
- <bufflag sid="bufflag" type="int">0</bufflag>
- <buftype sid="buftype" type="int">2</buftype>
- <ray_samp sid="ray_samp" type="int">1</ray_samp>
- <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
- <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
- <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
- <area_shape sid="area_shape" type="int">0</area_shape>
- <area_size sid="area_size" type="float">0.1</area_size>
- <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
- <area_sizez sid="area_sizez" type="float">0.1</area_sizez>
- <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
- <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
- <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
- <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
- <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
- <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
- <spread sid="spread" type="float">1</spread>
- <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
- <sun_size sid="sun_size" type="float">1</sun_size>
- <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
- <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
- <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
- <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
- <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
- <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
- <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
- <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
- </technique>
- </extra>
- </light>
- <light id="Point_005-light" name="Point.005">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.001599967</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <type sid="type" type="int">0</type>
- <flag sid="flag" type="int">0</flag>
- <mode sid="mode" type="int">1</mode>
- <gamma sid="blender_gamma" type="float">1</gamma>
- <red sid="red" type="float">1</red>
- <green sid="green" type="float">1</green>
- <blue sid="blue" type="float">1</blue>
- <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
- <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
- <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
- <energy sid="blender_energy" type="float">1</energy>
- <dist sid="blender_dist" type="float">25</dist>
- <spotsize sid="spotsize" type="float">45</spotsize>
- <spotblend sid="spotblend" type="float">0.15</spotblend>
- <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
- <att1 sid="att1" type="float">0</att1>
- <att2 sid="att2" type="float">1</att2>
- <falloff_type sid="falloff_type" type="int">2</falloff_type>
- <clipsta sid="clipsta" type="float">0.5</clipsta>
- <clipend sid="clipend" type="float">40</clipend>
- <bias sid="bias" type="float">1</bias>
- <soft sid="soft" type="float">3</soft>
- <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
- <bufsize sid="bufsize" type="int">512</bufsize>
- <samp sid="samp" type="int">3</samp>
- <buffers sid="buffers" type="int">1</buffers>
- <filtertype sid="filtertype" type="int">0</filtertype>
- <bufflag sid="bufflag" type="int">0</bufflag>
- <buftype sid="buftype" type="int">2</buftype>
- <ray_samp sid="ray_samp" type="int">1</ray_samp>
- <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
- <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
- <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
- <area_shape sid="area_shape" type="int">0</area_shape>
- <area_size sid="area_size" type="float">0.1</area_size>
- <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
- <area_sizez sid="area_sizez" type="float">0.1</area_sizez>
- <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
- <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
- <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
- <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
- <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
- <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
- <spread sid="spread" type="float">1</spread>
- <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
- <sun_size sid="sun_size" type="float">1</sun_size>
- <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
- <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
- <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
- <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
- <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
- <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
- <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
- <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
- </technique>
- </extra>
- </light>
- </library_lights>
<library_images>
<image id="carbon_uv_texture_jpg" name="carbon_uv_texture_jpg">
<init_from>carbon_uv_texture.jpg</init_from>
@@ -611,30 +201,6 @@
<matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 0 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
<instance_camera url="#Camera-camera"/>
</node>
- <node id="Point" name="Point" type="NODE">
- <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 20 0 0 0 1</matrix>
- <instance_light url="#Point-light"/>
- </node>
- <node id="Point_001" name="Point_001" type="NODE">
- <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 -20 0 0 0 1</matrix>
- <instance_light url="#Point_001-light"/>
- </node>
- <node id="Point_002" name="Point_002" type="NODE">
- <matrix sid="transform">1 0 0 20 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
- <instance_light url="#Point_002-light"/>
- </node>
- <node id="Point_003" name="Point_003" type="NODE">
- <matrix sid="transform">1 0 0 -20 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
- <instance_light url="#Point_003-light"/>
- </node>
- <node id="Point_004" name="Point_004" type="NODE">
- <matrix sid="transform">1 0 0 0 0 1 0 20 0 0 1 0 0 0 0 1</matrix>
- <instance_light url="#Point_004-light"/>
- </node>
- <node id="Point_005" name="Point_005" type="NODE">
- <matrix sid="transform">1 0 0 0 0 1 0 -20 0 0 1 0 0 0 0 1</matrix>
- <instance_light url="#Point_005-light"/>
- </node>
<node id="_45634_00-ASM_Foot_V9" name="_45634_00-ASM_Foot_V9" type="NODE">
<matrix sid="transform">9.99987e-4 0 0 0 0 9.99987e-4 0 0 0 0 9.99987e-4 0 0 0 0 1</matrix>
<instance_geometry url="#_45634_00-ASM_Foot_V9_000-mesh" name="_45634_00-ASM_Foot_V9">
diff --git a/robots/anymal_b_simple_description/meshes/hip/anymal_hip_l.dae b/robots/anymal_b_simple_description/meshes/hip/anymal_hip_l.dae
index c28eaa14ac36dc87fdd101ea1f220805259ea21e..1cd947e2dbe91b1fdc91aed80c6b79ee4f1c72e1 100644
--- a/robots/anymal_b_simple_description/meshes/hip/anymal_hip_l.dae
+++ b/robots/anymal_b_simple_description/meshes/hip/anymal_hip_l.dae
@@ -31,416 +31,6 @@
</extra>
</camera>
</library_cameras>
- <library_lights>
- <light id="Point-light" name="Point">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.001599967</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <type sid="type" type="int">0</type>
- <flag sid="flag" type="int">0</flag>
- <mode sid="mode" type="int">1</mode>
- <gamma sid="blender_gamma" type="float">1</gamma>
- <red sid="red" type="float">1</red>
- <green sid="green" type="float">1</green>
- <blue sid="blue" type="float">1</blue>
- <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
- <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
- <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
- <energy sid="blender_energy" type="float">1</energy>
- <dist sid="blender_dist" type="float">25</dist>
- <spotsize sid="spotsize" type="float">45</spotsize>
- <spotblend sid="spotblend" type="float">0.15</spotblend>
- <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
- <att1 sid="att1" type="float">0</att1>
- <att2 sid="att2" type="float">1</att2>
- <falloff_type sid="falloff_type" type="int">2</falloff_type>
- <clipsta sid="clipsta" type="float">0.5</clipsta>
- <clipend sid="clipend" type="float">40</clipend>
- <bias sid="bias" type="float">1</bias>
- <soft sid="soft" type="float">3</soft>
- <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
- <bufsize sid="bufsize" type="int">512</bufsize>
- <samp sid="samp" type="int">3</samp>
- <buffers sid="buffers" type="int">1</buffers>
- <filtertype sid="filtertype" type="int">0</filtertype>
- <bufflag sid="bufflag" type="int">0</bufflag>
- <buftype sid="buftype" type="int">2</buftype>
- <ray_samp sid="ray_samp" type="int">1</ray_samp>
- <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
- <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
- <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
- <area_shape sid="area_shape" type="int">0</area_shape>
- <area_size sid="area_size" type="float">0.1</area_size>
- <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
- <area_sizez sid="area_sizez" type="float">0.1</area_sizez>
- <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
- <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
- <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
- <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
- <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
- <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
- <spread sid="spread" type="float">1</spread>
- <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
- <sun_size sid="sun_size" type="float">1</sun_size>
- <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
- <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
- <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
- <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
- <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
- <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
- <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
- <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
- </technique>
- </extra>
- </light>
- <light id="Point_001-light" name="Point.001">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.001599967</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <type sid="type" type="int">0</type>
- <flag sid="flag" type="int">0</flag>
- <mode sid="mode" type="int">1</mode>
- <gamma sid="blender_gamma" type="float">1</gamma>
- <red sid="red" type="float">1</red>
- <green sid="green" type="float">1</green>
- <blue sid="blue" type="float">1</blue>
- <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
- <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
- <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
- <energy sid="blender_energy" type="float">1</energy>
- <dist sid="blender_dist" type="float">25</dist>
- <spotsize sid="spotsize" type="float">45</spotsize>
- <spotblend sid="spotblend" type="float">0.15</spotblend>
- <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
- <att1 sid="att1" type="float">0</att1>
- <att2 sid="att2" type="float">1</att2>
- <falloff_type sid="falloff_type" type="int">2</falloff_type>
- <clipsta sid="clipsta" type="float">0.5</clipsta>
- <clipend sid="clipend" type="float">40</clipend>
- <bias sid="bias" type="float">1</bias>
- <soft sid="soft" type="float">3</soft>
- <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
- <bufsize sid="bufsize" type="int">512</bufsize>
- <samp sid="samp" type="int">3</samp>
- <buffers sid="buffers" type="int">1</buffers>
- <filtertype sid="filtertype" type="int">0</filtertype>
- <bufflag sid="bufflag" type="int">0</bufflag>
- <buftype sid="buftype" type="int">2</buftype>
- <ray_samp sid="ray_samp" type="int">1</ray_samp>
- <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
- <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
- <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
- <area_shape sid="area_shape" type="int">0</area_shape>
- <area_size sid="area_size" type="float">0.1</area_size>
- <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
- <area_sizez sid="area_sizez" type="float">0.1</area_sizez>
- <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
- <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
- <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
- <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
- <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
- <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
- <spread sid="spread" type="float">1</spread>
- <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
- <sun_size sid="sun_size" type="float">1</sun_size>
- <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
- <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
- <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
- <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
- <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
- <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
- <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
- <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
- </technique>
- </extra>
- </light>
- <light id="Point_002-light" name="Point.002">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.001599967</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <type sid="type" type="int">0</type>
- <flag sid="flag" type="int">0</flag>
- <mode sid="mode" type="int">1</mode>
- <gamma sid="blender_gamma" type="float">1</gamma>
- <red sid="red" type="float">1</red>
- <green sid="green" type="float">1</green>
- <blue sid="blue" type="float">1</blue>
- <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
- <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
- <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
- <energy sid="blender_energy" type="float">1</energy>
- <dist sid="blender_dist" type="float">25</dist>
- <spotsize sid="spotsize" type="float">45</spotsize>
- <spotblend sid="spotblend" type="float">0.15</spotblend>
- <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
- <att1 sid="att1" type="float">0</att1>
- <att2 sid="att2" type="float">1</att2>
- <falloff_type sid="falloff_type" type="int">2</falloff_type>
- <clipsta sid="clipsta" type="float">0.5</clipsta>
- <clipend sid="clipend" type="float">40</clipend>
- <bias sid="bias" type="float">1</bias>
- <soft sid="soft" type="float">3</soft>
- <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
- <bufsize sid="bufsize" type="int">512</bufsize>
- <samp sid="samp" type="int">3</samp>
- <buffers sid="buffers" type="int">1</buffers>
- <filtertype sid="filtertype" type="int">0</filtertype>
- <bufflag sid="bufflag" type="int">0</bufflag>
- <buftype sid="buftype" type="int">2</buftype>
- <ray_samp sid="ray_samp" type="int">1</ray_samp>
- <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
- <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
- <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
- <area_shape sid="area_shape" type="int">0</area_shape>
- <area_size sid="area_size" type="float">0.1</area_size>
- <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
- <area_sizez sid="area_sizez" type="float">0.1</area_sizez>
- <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
- <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
- <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
- <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
- <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
- <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
- <spread sid="spread" type="float">1</spread>
- <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
- <sun_size sid="sun_size" type="float">1</sun_size>
- <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
- <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
- <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
- <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
- <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
- <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
- <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
- <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
- </technique>
- </extra>
- </light>
- <light id="Point_003-light" name="Point.003">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.001599967</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <type sid="type" type="int">0</type>
- <flag sid="flag" type="int">0</flag>
- <mode sid="mode" type="int">1</mode>
- <gamma sid="blender_gamma" type="float">1</gamma>
- <red sid="red" type="float">1</red>
- <green sid="green" type="float">1</green>
- <blue sid="blue" type="float">1</blue>
- <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
- <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
- <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
- <energy sid="blender_energy" type="float">1</energy>
- <dist sid="blender_dist" type="float">25</dist>
- <spotsize sid="spotsize" type="float">45</spotsize>
- <spotblend sid="spotblend" type="float">0.15</spotblend>
- <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
- <att1 sid="att1" type="float">0</att1>
- <att2 sid="att2" type="float">1</att2>
- <falloff_type sid="falloff_type" type="int">2</falloff_type>
- <clipsta sid="clipsta" type="float">0.5</clipsta>
- <clipend sid="clipend" type="float">40</clipend>
- <bias sid="bias" type="float">1</bias>
- <soft sid="soft" type="float">3</soft>
- <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
- <bufsize sid="bufsize" type="int">512</bufsize>
- <samp sid="samp" type="int">3</samp>
- <buffers sid="buffers" type="int">1</buffers>
- <filtertype sid="filtertype" type="int">0</filtertype>
- <bufflag sid="bufflag" type="int">0</bufflag>
- <buftype sid="buftype" type="int">2</buftype>
- <ray_samp sid="ray_samp" type="int">1</ray_samp>
- <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
- <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
- <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
- <area_shape sid="area_shape" type="int">0</area_shape>
- <area_size sid="area_size" type="float">0.1</area_size>
- <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
- <area_sizez sid="area_sizez" type="float">0.1</area_sizez>
- <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
- <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
- <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
- <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
- <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
- <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
- <spread sid="spread" type="float">1</spread>
- <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
- <sun_size sid="sun_size" type="float">1</sun_size>
- <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
- <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
- <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
- <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
- <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
- <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
- <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
- <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
- </technique>
- </extra>
- </light>
- <light id="Point_004-light" name="Point.004">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.001599967</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <type sid="type" type="int">0</type>
- <flag sid="flag" type="int">0</flag>
- <mode sid="mode" type="int">1</mode>
- <gamma sid="blender_gamma" type="float">1</gamma>
- <red sid="red" type="float">1</red>
- <green sid="green" type="float">1</green>
- <blue sid="blue" type="float">1</blue>
- <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
- <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
- <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
- <energy sid="blender_energy" type="float">1</energy>
- <dist sid="blender_dist" type="float">25</dist>
- <spotsize sid="spotsize" type="float">45</spotsize>
- <spotblend sid="spotblend" type="float">0.15</spotblend>
- <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
- <att1 sid="att1" type="float">0</att1>
- <att2 sid="att2" type="float">1</att2>
- <falloff_type sid="falloff_type" type="int">2</falloff_type>
- <clipsta sid="clipsta" type="float">0.5</clipsta>
- <clipend sid="clipend" type="float">40</clipend>
- <bias sid="bias" type="float">1</bias>
- <soft sid="soft" type="float">3</soft>
- <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
- <bufsize sid="bufsize" type="int">512</bufsize>
- <samp sid="samp" type="int">3</samp>
- <buffers sid="buffers" type="int">1</buffers>
- <filtertype sid="filtertype" type="int">0</filtertype>
- <bufflag sid="bufflag" type="int">0</bufflag>
- <buftype sid="buftype" type="int">2</buftype>
- <ray_samp sid="ray_samp" type="int">1</ray_samp>
- <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
- <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
- <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
- <area_shape sid="area_shape" type="int">0</area_shape>
- <area_size sid="area_size" type="float">0.1</area_size>
- <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
- <area_sizez sid="area_sizez" type="float">0.1</area_sizez>
- <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
- <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
- <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
- <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
- <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
- <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
- <spread sid="spread" type="float">1</spread>
- <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
- <sun_size sid="sun_size" type="float">1</sun_size>
- <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
- <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
- <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
- <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
- <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
- <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
- <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
- <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
- </technique>
- </extra>
- </light>
- <light id="Point_005-light" name="Point.005">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.001599967</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <type sid="type" type="int">0</type>
- <flag sid="flag" type="int">0</flag>
- <mode sid="mode" type="int">1</mode>
- <gamma sid="blender_gamma" type="float">1</gamma>
- <red sid="red" type="float">1</red>
- <green sid="green" type="float">1</green>
- <blue sid="blue" type="float">1</blue>
- <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
- <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
- <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
- <energy sid="blender_energy" type="float">1</energy>
- <dist sid="blender_dist" type="float">25</dist>
- <spotsize sid="spotsize" type="float">45</spotsize>
- <spotblend sid="spotblend" type="float">0.15</spotblend>
- <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
- <att1 sid="att1" type="float">0</att1>
- <att2 sid="att2" type="float">1</att2>
- <falloff_type sid="falloff_type" type="int">2</falloff_type>
- <clipsta sid="clipsta" type="float">0.5</clipsta>
- <clipend sid="clipend" type="float">40</clipend>
- <bias sid="bias" type="float">1</bias>
- <soft sid="soft" type="float">3</soft>
- <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
- <bufsize sid="bufsize" type="int">512</bufsize>
- <samp sid="samp" type="int">3</samp>
- <buffers sid="buffers" type="int">1</buffers>
- <filtertype sid="filtertype" type="int">0</filtertype>
- <bufflag sid="bufflag" type="int">0</bufflag>
- <buftype sid="buftype" type="int">2</buftype>
- <ray_samp sid="ray_samp" type="int">1</ray_samp>
- <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
- <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
- <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
- <area_shape sid="area_shape" type="int">0</area_shape>
- <area_size sid="area_size" type="float">0.1</area_size>
- <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
- <area_sizez sid="area_sizez" type="float">0.1</area_sizez>
- <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
- <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
- <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
- <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
- <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
- <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
- <spread sid="spread" type="float">1</spread>
- <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
- <sun_size sid="sun_size" type="float">1</sun_size>
- <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
- <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
- <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
- <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
- <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
- <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
- <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
- <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
- </technique>
- </extra>
- </light>
- </library_lights>
<library_images/>
<library_effects>
<effect id="Material_001-effect">
@@ -1153,30 +743,6 @@
</bind_material>
</instance_geometry>
</node>
- <node id="Point" name="Point" type="NODE">
- <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 20 0 0 0 1</matrix>
- <instance_light url="#Point-light"/>
- </node>
- <node id="Point_001" name="Point_001" type="NODE">
- <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 -20 0 0 0 1</matrix>
- <instance_light url="#Point_001-light"/>
- </node>
- <node id="Point_002" name="Point_002" type="NODE">
- <matrix sid="transform">1 0 0 20 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
- <instance_light url="#Point_002-light"/>
- </node>
- <node id="Point_003" name="Point_003" type="NODE">
- <matrix sid="transform">1 0 0 -20 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
- <instance_light url="#Point_003-light"/>
- </node>
- <node id="Point_004" name="Point_004" type="NODE">
- <matrix sid="transform">1 0 0 0 0 1 0 20 0 0 1 0 0 0 0 1</matrix>
- <instance_light url="#Point_004-light"/>
- </node>
- <node id="Point_005" name="Point_005" type="NODE">
- <matrix sid="transform">1 0 0 0 0 1 0 -20 0 0 1 0 0 0 0 1</matrix>
- <instance_light url="#Point_005-light"/>
- </node>
</visual_scene>
</library_visual_scenes>
<scene>
diff --git a/robots/anymal_b_simple_description/meshes/hip/anymal_hip_r.dae b/robots/anymal_b_simple_description/meshes/hip/anymal_hip_r.dae
index d553c66542e9ed8d096c5c8802f3d4cbef831310..a6c9b4a7c529a467fcd70c5cd27300f019a3c28b 100644
--- a/robots/anymal_b_simple_description/meshes/hip/anymal_hip_r.dae
+++ b/robots/anymal_b_simple_description/meshes/hip/anymal_hip_r.dae
@@ -31,416 +31,6 @@
</extra>
</camera>
</library_cameras>
- <library_lights>
- <light id="Point-light" name="Point">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.001599967</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <type sid="type" type="int">0</type>
- <flag sid="flag" type="int">0</flag>
- <mode sid="mode" type="int">1</mode>
- <gamma sid="blender_gamma" type="float">1</gamma>
- <red sid="red" type="float">1</red>
- <green sid="green" type="float">1</green>
- <blue sid="blue" type="float">1</blue>
- <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
- <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
- <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
- <energy sid="blender_energy" type="float">1</energy>
- <dist sid="blender_dist" type="float">25</dist>
- <spotsize sid="spotsize" type="float">45</spotsize>
- <spotblend sid="spotblend" type="float">0.15</spotblend>
- <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
- <att1 sid="att1" type="float">0</att1>
- <att2 sid="att2" type="float">1</att2>
- <falloff_type sid="falloff_type" type="int">2</falloff_type>
- <clipsta sid="clipsta" type="float">0.5</clipsta>
- <clipend sid="clipend" type="float">40</clipend>
- <bias sid="bias" type="float">1</bias>
- <soft sid="soft" type="float">3</soft>
- <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
- <bufsize sid="bufsize" type="int">512</bufsize>
- <samp sid="samp" type="int">3</samp>
- <buffers sid="buffers" type="int">1</buffers>
- <filtertype sid="filtertype" type="int">0</filtertype>
- <bufflag sid="bufflag" type="int">0</bufflag>
- <buftype sid="buftype" type="int">2</buftype>
- <ray_samp sid="ray_samp" type="int">1</ray_samp>
- <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
- <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
- <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
- <area_shape sid="area_shape" type="int">0</area_shape>
- <area_size sid="area_size" type="float">0.1</area_size>
- <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
- <area_sizez sid="area_sizez" type="float">0.1</area_sizez>
- <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
- <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
- <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
- <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
- <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
- <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
- <spread sid="spread" type="float">1</spread>
- <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
- <sun_size sid="sun_size" type="float">1</sun_size>
- <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
- <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
- <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
- <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
- <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
- <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
- <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
- <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
- </technique>
- </extra>
- </light>
- <light id="Point_001-light" name="Point.001">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.001599967</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <type sid="type" type="int">0</type>
- <flag sid="flag" type="int">0</flag>
- <mode sid="mode" type="int">1</mode>
- <gamma sid="blender_gamma" type="float">1</gamma>
- <red sid="red" type="float">1</red>
- <green sid="green" type="float">1</green>
- <blue sid="blue" type="float">1</blue>
- <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
- <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
- <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
- <energy sid="blender_energy" type="float">1</energy>
- <dist sid="blender_dist" type="float">25</dist>
- <spotsize sid="spotsize" type="float">45</spotsize>
- <spotblend sid="spotblend" type="float">0.15</spotblend>
- <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
- <att1 sid="att1" type="float">0</att1>
- <att2 sid="att2" type="float">1</att2>
- <falloff_type sid="falloff_type" type="int">2</falloff_type>
- <clipsta sid="clipsta" type="float">0.5</clipsta>
- <clipend sid="clipend" type="float">40</clipend>
- <bias sid="bias" type="float">1</bias>
- <soft sid="soft" type="float">3</soft>
- <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
- <bufsize sid="bufsize" type="int">512</bufsize>
- <samp sid="samp" type="int">3</samp>
- <buffers sid="buffers" type="int">1</buffers>
- <filtertype sid="filtertype" type="int">0</filtertype>
- <bufflag sid="bufflag" type="int">0</bufflag>
- <buftype sid="buftype" type="int">2</buftype>
- <ray_samp sid="ray_samp" type="int">1</ray_samp>
- <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
- <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
- <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
- <area_shape sid="area_shape" type="int">0</area_shape>
- <area_size sid="area_size" type="float">0.1</area_size>
- <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
- <area_sizez sid="area_sizez" type="float">0.1</area_sizez>
- <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
- <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
- <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
- <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
- <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
- <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
- <spread sid="spread" type="float">1</spread>
- <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
- <sun_size sid="sun_size" type="float">1</sun_size>
- <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
- <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
- <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
- <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
- <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
- <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
- <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
- <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
- </technique>
- </extra>
- </light>
- <light id="Point_002-light" name="Point.002">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.001599967</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <type sid="type" type="int">0</type>
- <flag sid="flag" type="int">0</flag>
- <mode sid="mode" type="int">1</mode>
- <gamma sid="blender_gamma" type="float">1</gamma>
- <red sid="red" type="float">1</red>
- <green sid="green" type="float">1</green>
- <blue sid="blue" type="float">1</blue>
- <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
- <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
- <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
- <energy sid="blender_energy" type="float">1</energy>
- <dist sid="blender_dist" type="float">25</dist>
- <spotsize sid="spotsize" type="float">45</spotsize>
- <spotblend sid="spotblend" type="float">0.15</spotblend>
- <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
- <att1 sid="att1" type="float">0</att1>
- <att2 sid="att2" type="float">1</att2>
- <falloff_type sid="falloff_type" type="int">2</falloff_type>
- <clipsta sid="clipsta" type="float">0.5</clipsta>
- <clipend sid="clipend" type="float">40</clipend>
- <bias sid="bias" type="float">1</bias>
- <soft sid="soft" type="float">3</soft>
- <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
- <bufsize sid="bufsize" type="int">512</bufsize>
- <samp sid="samp" type="int">3</samp>
- <buffers sid="buffers" type="int">1</buffers>
- <filtertype sid="filtertype" type="int">0</filtertype>
- <bufflag sid="bufflag" type="int">0</bufflag>
- <buftype sid="buftype" type="int">2</buftype>
- <ray_samp sid="ray_samp" type="int">1</ray_samp>
- <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
- <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
- <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
- <area_shape sid="area_shape" type="int">0</area_shape>
- <area_size sid="area_size" type="float">0.1</area_size>
- <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
- <area_sizez sid="area_sizez" type="float">0.1</area_sizez>
- <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
- <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
- <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
- <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
- <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
- <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
- <spread sid="spread" type="float">1</spread>
- <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
- <sun_size sid="sun_size" type="float">1</sun_size>
- <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
- <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
- <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
- <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
- <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
- <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
- <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
- <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
- </technique>
- </extra>
- </light>
- <light id="Point_003-light" name="Point.003">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.001599967</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <type sid="type" type="int">0</type>
- <flag sid="flag" type="int">0</flag>
- <mode sid="mode" type="int">1</mode>
- <gamma sid="blender_gamma" type="float">1</gamma>
- <red sid="red" type="float">1</red>
- <green sid="green" type="float">1</green>
- <blue sid="blue" type="float">1</blue>
- <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
- <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
- <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
- <energy sid="blender_energy" type="float">1</energy>
- <dist sid="blender_dist" type="float">25</dist>
- <spotsize sid="spotsize" type="float">45</spotsize>
- <spotblend sid="spotblend" type="float">0.15</spotblend>
- <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
- <att1 sid="att1" type="float">0</att1>
- <att2 sid="att2" type="float">1</att2>
- <falloff_type sid="falloff_type" type="int">2</falloff_type>
- <clipsta sid="clipsta" type="float">0.5</clipsta>
- <clipend sid="clipend" type="float">40</clipend>
- <bias sid="bias" type="float">1</bias>
- <soft sid="soft" type="float">3</soft>
- <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
- <bufsize sid="bufsize" type="int">512</bufsize>
- <samp sid="samp" type="int">3</samp>
- <buffers sid="buffers" type="int">1</buffers>
- <filtertype sid="filtertype" type="int">0</filtertype>
- <bufflag sid="bufflag" type="int">0</bufflag>
- <buftype sid="buftype" type="int">2</buftype>
- <ray_samp sid="ray_samp" type="int">1</ray_samp>
- <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
- <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
- <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
- <area_shape sid="area_shape" type="int">0</area_shape>
- <area_size sid="area_size" type="float">0.1</area_size>
- <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
- <area_sizez sid="area_sizez" type="float">0.1</area_sizez>
- <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
- <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
- <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
- <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
- <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
- <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
- <spread sid="spread" type="float">1</spread>
- <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
- <sun_size sid="sun_size" type="float">1</sun_size>
- <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
- <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
- <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
- <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
- <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
- <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
- <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
- <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
- </technique>
- </extra>
- </light>
- <light id="Point_004-light" name="Point.004">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.001599967</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <type sid="type" type="int">0</type>
- <flag sid="flag" type="int">0</flag>
- <mode sid="mode" type="int">1</mode>
- <gamma sid="blender_gamma" type="float">1</gamma>
- <red sid="red" type="float">1</red>
- <green sid="green" type="float">1</green>
- <blue sid="blue" type="float">1</blue>
- <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
- <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
- <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
- <energy sid="blender_energy" type="float">1</energy>
- <dist sid="blender_dist" type="float">25</dist>
- <spotsize sid="spotsize" type="float">45</spotsize>
- <spotblend sid="spotblend" type="float">0.15</spotblend>
- <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
- <att1 sid="att1" type="float">0</att1>
- <att2 sid="att2" type="float">1</att2>
- <falloff_type sid="falloff_type" type="int">2</falloff_type>
- <clipsta sid="clipsta" type="float">0.5</clipsta>
- <clipend sid="clipend" type="float">40</clipend>
- <bias sid="bias" type="float">1</bias>
- <soft sid="soft" type="float">3</soft>
- <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
- <bufsize sid="bufsize" type="int">512</bufsize>
- <samp sid="samp" type="int">3</samp>
- <buffers sid="buffers" type="int">1</buffers>
- <filtertype sid="filtertype" type="int">0</filtertype>
- <bufflag sid="bufflag" type="int">0</bufflag>
- <buftype sid="buftype" type="int">2</buftype>
- <ray_samp sid="ray_samp" type="int">1</ray_samp>
- <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
- <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
- <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
- <area_shape sid="area_shape" type="int">0</area_shape>
- <area_size sid="area_size" type="float">0.1</area_size>
- <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
- <area_sizez sid="area_sizez" type="float">0.1</area_sizez>
- <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
- <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
- <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
- <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
- <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
- <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
- <spread sid="spread" type="float">1</spread>
- <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
- <sun_size sid="sun_size" type="float">1</sun_size>
- <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
- <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
- <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
- <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
- <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
- <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
- <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
- <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
- </technique>
- </extra>
- </light>
- <light id="Point_005-light" name="Point.005">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.001599967</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <type sid="type" type="int">0</type>
- <flag sid="flag" type="int">0</flag>
- <mode sid="mode" type="int">1</mode>
- <gamma sid="blender_gamma" type="float">1</gamma>
- <red sid="red" type="float">1</red>
- <green sid="green" type="float">1</green>
- <blue sid="blue" type="float">1</blue>
- <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
- <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
- <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
- <energy sid="blender_energy" type="float">1</energy>
- <dist sid="blender_dist" type="float">25</dist>
- <spotsize sid="spotsize" type="float">45</spotsize>
- <spotblend sid="spotblend" type="float">0.15</spotblend>
- <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
- <att1 sid="att1" type="float">0</att1>
- <att2 sid="att2" type="float">1</att2>
- <falloff_type sid="falloff_type" type="int">2</falloff_type>
- <clipsta sid="clipsta" type="float">0.5</clipsta>
- <clipend sid="clipend" type="float">40</clipend>
- <bias sid="bias" type="float">1</bias>
- <soft sid="soft" type="float">3</soft>
- <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
- <bufsize sid="bufsize" type="int">512</bufsize>
- <samp sid="samp" type="int">3</samp>
- <buffers sid="buffers" type="int">1</buffers>
- <filtertype sid="filtertype" type="int">0</filtertype>
- <bufflag sid="bufflag" type="int">0</bufflag>
- <buftype sid="buftype" type="int">2</buftype>
- <ray_samp sid="ray_samp" type="int">1</ray_samp>
- <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
- <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
- <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
- <area_shape sid="area_shape" type="int">0</area_shape>
- <area_size sid="area_size" type="float">0.1</area_size>
- <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
- <area_sizez sid="area_sizez" type="float">0.1</area_sizez>
- <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
- <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
- <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
- <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
- <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
- <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
- <spread sid="spread" type="float">1</spread>
- <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
- <sun_size sid="sun_size" type="float">1</sun_size>
- <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
- <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
- <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
- <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
- <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
- <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
- <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
- <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
- </technique>
- </extra>
- </light>
- </library_lights>
<library_images/>
<library_effects>
<effect id="Material_001-effect">
@@ -1153,30 +743,6 @@
</bind_material>
</instance_geometry>
</node>
- <node id="Point" name="Point" type="NODE">
- <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 20 0 0 0 1</matrix>
- <instance_light url="#Point-light"/>
- </node>
- <node id="Point_001" name="Point_001" type="NODE">
- <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 -20 0 0 0 1</matrix>
- <instance_light url="#Point_001-light"/>
- </node>
- <node id="Point_002" name="Point_002" type="NODE">
- <matrix sid="transform">1 0 0 20 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
- <instance_light url="#Point_002-light"/>
- </node>
- <node id="Point_003" name="Point_003" type="NODE">
- <matrix sid="transform">1 0 0 -20 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
- <instance_light url="#Point_003-light"/>
- </node>
- <node id="Point_004" name="Point_004" type="NODE">
- <matrix sid="transform">1 0 0 0 0 1 0 20 0 0 1 0 0 0 0 1</matrix>
- <instance_light url="#Point_004-light"/>
- </node>
- <node id="Point_005" name="Point_005" type="NODE">
- <matrix sid="transform">1 0 0 0 0 1 0 -20 0 0 1 0 0 0 0 1</matrix>
- <instance_light url="#Point_005-light"/>
- </node>
</visual_scene>
</library_visual_scenes>
<scene>
diff --git a/robots/anymal_b_simple_description/meshes/shank/anymal_shank_l.dae b/robots/anymal_b_simple_description/meshes/shank/anymal_shank_l.dae
index 7fd47fe65adf0d90f3db973c176c700382084b7a..7230eb2cf6dd2ddad0cb4e19ae9501f7a9624d6b 100644
--- a/robots/anymal_b_simple_description/meshes/shank/anymal_shank_l.dae
+++ b/robots/anymal_b_simple_description/meshes/shank/anymal_shank_l.dae
@@ -31,416 +31,6 @@
</extra>
</camera>
</library_cameras>
- <library_lights>
- <light id="Point-light" name="Point">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.001599967</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <type sid="type" type="int">0</type>
- <flag sid="flag" type="int">0</flag>
- <mode sid="mode" type="int">1</mode>
- <gamma sid="blender_gamma" type="float">1</gamma>
- <red sid="red" type="float">1</red>
- <green sid="green" type="float">1</green>
- <blue sid="blue" type="float">1</blue>
- <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
- <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
- <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
- <energy sid="blender_energy" type="float">1</energy>
- <dist sid="blender_dist" type="float">25</dist>
- <spotsize sid="spotsize" type="float">45</spotsize>
- <spotblend sid="spotblend" type="float">0.15</spotblend>
- <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
- <att1 sid="att1" type="float">0</att1>
- <att2 sid="att2" type="float">1</att2>
- <falloff_type sid="falloff_type" type="int">2</falloff_type>
- <clipsta sid="clipsta" type="float">0.5</clipsta>
- <clipend sid="clipend" type="float">40</clipend>
- <bias sid="bias" type="float">1</bias>
- <soft sid="soft" type="float">3</soft>
- <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
- <bufsize sid="bufsize" type="int">512</bufsize>
- <samp sid="samp" type="int">3</samp>
- <buffers sid="buffers" type="int">1</buffers>
- <filtertype sid="filtertype" type="int">0</filtertype>
- <bufflag sid="bufflag" type="int">0</bufflag>
- <buftype sid="buftype" type="int">2</buftype>
- <ray_samp sid="ray_samp" type="int">1</ray_samp>
- <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
- <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
- <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
- <area_shape sid="area_shape" type="int">0</area_shape>
- <area_size sid="area_size" type="float">0.1</area_size>
- <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
- <area_sizez sid="area_sizez" type="float">0.1</area_sizez>
- <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
- <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
- <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
- <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
- <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
- <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
- <spread sid="spread" type="float">1</spread>
- <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
- <sun_size sid="sun_size" type="float">1</sun_size>
- <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
- <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
- <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
- <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
- <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
- <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
- <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
- <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
- </technique>
- </extra>
- </light>
- <light id="Point_001-light" name="Point.001">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.001599967</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <type sid="type" type="int">0</type>
- <flag sid="flag" type="int">0</flag>
- <mode sid="mode" type="int">1</mode>
- <gamma sid="blender_gamma" type="float">1</gamma>
- <red sid="red" type="float">1</red>
- <green sid="green" type="float">1</green>
- <blue sid="blue" type="float">1</blue>
- <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
- <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
- <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
- <energy sid="blender_energy" type="float">1</energy>
- <dist sid="blender_dist" type="float">25</dist>
- <spotsize sid="spotsize" type="float">45</spotsize>
- <spotblend sid="spotblend" type="float">0.15</spotblend>
- <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
- <att1 sid="att1" type="float">0</att1>
- <att2 sid="att2" type="float">1</att2>
- <falloff_type sid="falloff_type" type="int">2</falloff_type>
- <clipsta sid="clipsta" type="float">0.5</clipsta>
- <clipend sid="clipend" type="float">40</clipend>
- <bias sid="bias" type="float">1</bias>
- <soft sid="soft" type="float">3</soft>
- <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
- <bufsize sid="bufsize" type="int">512</bufsize>
- <samp sid="samp" type="int">3</samp>
- <buffers sid="buffers" type="int">1</buffers>
- <filtertype sid="filtertype" type="int">0</filtertype>
- <bufflag sid="bufflag" type="int">0</bufflag>
- <buftype sid="buftype" type="int">2</buftype>
- <ray_samp sid="ray_samp" type="int">1</ray_samp>
- <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
- <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
- <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
- <area_shape sid="area_shape" type="int">0</area_shape>
- <area_size sid="area_size" type="float">0.1</area_size>
- <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
- <area_sizez sid="area_sizez" type="float">0.1</area_sizez>
- <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
- <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
- <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
- <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
- <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
- <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
- <spread sid="spread" type="float">1</spread>
- <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
- <sun_size sid="sun_size" type="float">1</sun_size>
- <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
- <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
- <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
- <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
- <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
- <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
- <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
- <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
- </technique>
- </extra>
- </light>
- <light id="Point_002-light" name="Point.002">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.001599967</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <type sid="type" type="int">0</type>
- <flag sid="flag" type="int">0</flag>
- <mode sid="mode" type="int">1</mode>
- <gamma sid="blender_gamma" type="float">1</gamma>
- <red sid="red" type="float">1</red>
- <green sid="green" type="float">1</green>
- <blue sid="blue" type="float">1</blue>
- <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
- <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
- <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
- <energy sid="blender_energy" type="float">1</energy>
- <dist sid="blender_dist" type="float">25</dist>
- <spotsize sid="spotsize" type="float">45</spotsize>
- <spotblend sid="spotblend" type="float">0.15</spotblend>
- <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
- <att1 sid="att1" type="float">0</att1>
- <att2 sid="att2" type="float">1</att2>
- <falloff_type sid="falloff_type" type="int">2</falloff_type>
- <clipsta sid="clipsta" type="float">0.5</clipsta>
- <clipend sid="clipend" type="float">40</clipend>
- <bias sid="bias" type="float">1</bias>
- <soft sid="soft" type="float">3</soft>
- <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
- <bufsize sid="bufsize" type="int">512</bufsize>
- <samp sid="samp" type="int">3</samp>
- <buffers sid="buffers" type="int">1</buffers>
- <filtertype sid="filtertype" type="int">0</filtertype>
- <bufflag sid="bufflag" type="int">0</bufflag>
- <buftype sid="buftype" type="int">2</buftype>
- <ray_samp sid="ray_samp" type="int">1</ray_samp>
- <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
- <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
- <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
- <area_shape sid="area_shape" type="int">0</area_shape>
- <area_size sid="area_size" type="float">0.1</area_size>
- <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
- <area_sizez sid="area_sizez" type="float">0.1</area_sizez>
- <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
- <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
- <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
- <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
- <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
- <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
- <spread sid="spread" type="float">1</spread>
- <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
- <sun_size sid="sun_size" type="float">1</sun_size>
- <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
- <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
- <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
- <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
- <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
- <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
- <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
- <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
- </technique>
- </extra>
- </light>
- <light id="Point_003-light" name="Point.003">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.001599967</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <type sid="type" type="int">0</type>
- <flag sid="flag" type="int">0</flag>
- <mode sid="mode" type="int">1</mode>
- <gamma sid="blender_gamma" type="float">1</gamma>
- <red sid="red" type="float">1</red>
- <green sid="green" type="float">1</green>
- <blue sid="blue" type="float">1</blue>
- <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
- <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
- <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
- <energy sid="blender_energy" type="float">1</energy>
- <dist sid="blender_dist" type="float">25</dist>
- <spotsize sid="spotsize" type="float">45</spotsize>
- <spotblend sid="spotblend" type="float">0.15</spotblend>
- <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
- <att1 sid="att1" type="float">0</att1>
- <att2 sid="att2" type="float">1</att2>
- <falloff_type sid="falloff_type" type="int">2</falloff_type>
- <clipsta sid="clipsta" type="float">0.5</clipsta>
- <clipend sid="clipend" type="float">40</clipend>
- <bias sid="bias" type="float">1</bias>
- <soft sid="soft" type="float">3</soft>
- <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
- <bufsize sid="bufsize" type="int">512</bufsize>
- <samp sid="samp" type="int">3</samp>
- <buffers sid="buffers" type="int">1</buffers>
- <filtertype sid="filtertype" type="int">0</filtertype>
- <bufflag sid="bufflag" type="int">0</bufflag>
- <buftype sid="buftype" type="int">2</buftype>
- <ray_samp sid="ray_samp" type="int">1</ray_samp>
- <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
- <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
- <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
- <area_shape sid="area_shape" type="int">0</area_shape>
- <area_size sid="area_size" type="float">0.1</area_size>
- <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
- <area_sizez sid="area_sizez" type="float">0.1</area_sizez>
- <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
- <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
- <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
- <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
- <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
- <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
- <spread sid="spread" type="float">1</spread>
- <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
- <sun_size sid="sun_size" type="float">1</sun_size>
- <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
- <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
- <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
- <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
- <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
- <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
- <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
- <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
- </technique>
- </extra>
- </light>
- <light id="Point_004-light" name="Point.004">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.001599967</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <type sid="type" type="int">0</type>
- <flag sid="flag" type="int">0</flag>
- <mode sid="mode" type="int">1</mode>
- <gamma sid="blender_gamma" type="float">1</gamma>
- <red sid="red" type="float">1</red>
- <green sid="green" type="float">1</green>
- <blue sid="blue" type="float">1</blue>
- <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
- <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
- <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
- <energy sid="blender_energy" type="float">1</energy>
- <dist sid="blender_dist" type="float">25</dist>
- <spotsize sid="spotsize" type="float">45</spotsize>
- <spotblend sid="spotblend" type="float">0.15</spotblend>
- <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
- <att1 sid="att1" type="float">0</att1>
- <att2 sid="att2" type="float">1</att2>
- <falloff_type sid="falloff_type" type="int">2</falloff_type>
- <clipsta sid="clipsta" type="float">0.5</clipsta>
- <clipend sid="clipend" type="float">40</clipend>
- <bias sid="bias" type="float">1</bias>
- <soft sid="soft" type="float">3</soft>
- <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
- <bufsize sid="bufsize" type="int">512</bufsize>
- <samp sid="samp" type="int">3</samp>
- <buffers sid="buffers" type="int">1</buffers>
- <filtertype sid="filtertype" type="int">0</filtertype>
- <bufflag sid="bufflag" type="int">0</bufflag>
- <buftype sid="buftype" type="int">2</buftype>
- <ray_samp sid="ray_samp" type="int">1</ray_samp>
- <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
- <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
- <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
- <area_shape sid="area_shape" type="int">0</area_shape>
- <area_size sid="area_size" type="float">0.1</area_size>
- <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
- <area_sizez sid="area_sizez" type="float">0.1</area_sizez>
- <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
- <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
- <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
- <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
- <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
- <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
- <spread sid="spread" type="float">1</spread>
- <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
- <sun_size sid="sun_size" type="float">1</sun_size>
- <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
- <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
- <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
- <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
- <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
- <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
- <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
- <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
- </technique>
- </extra>
- </light>
- <light id="Point_005-light" name="Point.005">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.001599967</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <type sid="type" type="int">0</type>
- <flag sid="flag" type="int">0</flag>
- <mode sid="mode" type="int">1</mode>
- <gamma sid="blender_gamma" type="float">1</gamma>
- <red sid="red" type="float">1</red>
- <green sid="green" type="float">1</green>
- <blue sid="blue" type="float">1</blue>
- <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
- <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
- <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
- <energy sid="blender_energy" type="float">1</energy>
- <dist sid="blender_dist" type="float">25</dist>
- <spotsize sid="spotsize" type="float">45</spotsize>
- <spotblend sid="spotblend" type="float">0.15</spotblend>
- <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
- <att1 sid="att1" type="float">0</att1>
- <att2 sid="att2" type="float">1</att2>
- <falloff_type sid="falloff_type" type="int">2</falloff_type>
- <clipsta sid="clipsta" type="float">0.5</clipsta>
- <clipend sid="clipend" type="float">40</clipend>
- <bias sid="bias" type="float">1</bias>
- <soft sid="soft" type="float">3</soft>
- <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
- <bufsize sid="bufsize" type="int">512</bufsize>
- <samp sid="samp" type="int">3</samp>
- <buffers sid="buffers" type="int">1</buffers>
- <filtertype sid="filtertype" type="int">0</filtertype>
- <bufflag sid="bufflag" type="int">0</bufflag>
- <buftype sid="buftype" type="int">2</buftype>
- <ray_samp sid="ray_samp" type="int">1</ray_samp>
- <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
- <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
- <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
- <area_shape sid="area_shape" type="int">0</area_shape>
- <area_size sid="area_size" type="float">0.1</area_size>
- <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
- <area_sizez sid="area_sizez" type="float">0.1</area_sizez>
- <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
- <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
- <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
- <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
- <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
- <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
- <spread sid="spread" type="float">1</spread>
- <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
- <sun_size sid="sun_size" type="float">1</sun_size>
- <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
- <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
- <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
- <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
- <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
- <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
- <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
- <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
- </technique>
- </extra>
- </light>
- </library_lights>
<library_images/>
<library_effects>
<effect id="Material_001-effect">
@@ -711,30 +301,6 @@
<matrix sid="transform">9.63543e-4 3.59415e-11 -2.67504e-4 0 -3.59415e-11 9.99987e-4 4.89654e-12 0 2.67504e-4 4.89653e-12 9.63543e-4 0 0 0 0 1</matrix>
<instance_geometry url="#_42196_00-ASM_ANYmal_shank_left_EDI_005-mesh" name="_42196_00-ASM_ANYmal_shank_left_EDI_005"/>
</node>
- <node id="Point" name="Point" type="NODE">
- <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 20 0 0 0 1</matrix>
- <instance_light url="#Point-light"/>
- </node>
- <node id="Point_001" name="Point_001" type="NODE">
- <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 -20 0 0 0 1</matrix>
- <instance_light url="#Point_001-light"/>
- </node>
- <node id="Point_002" name="Point_002" type="NODE">
- <matrix sid="transform">1 0 0 20 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
- <instance_light url="#Point_002-light"/>
- </node>
- <node id="Point_003" name="Point_003" type="NODE">
- <matrix sid="transform">1 0 0 -20 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
- <instance_light url="#Point_003-light"/>
- </node>
- <node id="Point_004" name="Point_004" type="NODE">
- <matrix sid="transform">1 0 0 0 0 1 0 20 0 0 1 0 0 0 0 1</matrix>
- <instance_light url="#Point_004-light"/>
- </node>
- <node id="Point_005" name="Point_005" type="NODE">
- <matrix sid="transform">1 0 0 0 0 1 0 -20 0 0 1 0 0 0 0 1</matrix>
- <instance_light url="#Point_005-light"/>
- </node>
</visual_scene>
</library_visual_scenes>
<scene>
diff --git a/robots/anymal_b_simple_description/meshes/shank/anymal_shank_r.dae b/robots/anymal_b_simple_description/meshes/shank/anymal_shank_r.dae
index 7e3174a5a056b96274ce90f4588ce2274740a669..fa44d1ea603609008b58d1c172763bdbe58e8e6e 100644
--- a/robots/anymal_b_simple_description/meshes/shank/anymal_shank_r.dae
+++ b/robots/anymal_b_simple_description/meshes/shank/anymal_shank_r.dae
@@ -31,416 +31,6 @@
</extra>
</camera>
</library_cameras>
- <library_lights>
- <light id="Point-light" name="Point">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.001599967</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <type sid="type" type="int">0</type>
- <flag sid="flag" type="int">0</flag>
- <mode sid="mode" type="int">1</mode>
- <gamma sid="blender_gamma" type="float">1</gamma>
- <red sid="red" type="float">1</red>
- <green sid="green" type="float">1</green>
- <blue sid="blue" type="float">1</blue>
- <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
- <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
- <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
- <energy sid="blender_energy" type="float">1</energy>
- <dist sid="blender_dist" type="float">25</dist>
- <spotsize sid="spotsize" type="float">45</spotsize>
- <spotblend sid="spotblend" type="float">0.15</spotblend>
- <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
- <att1 sid="att1" type="float">0</att1>
- <att2 sid="att2" type="float">1</att2>
- <falloff_type sid="falloff_type" type="int">2</falloff_type>
- <clipsta sid="clipsta" type="float">0.5</clipsta>
- <clipend sid="clipend" type="float">40</clipend>
- <bias sid="bias" type="float">1</bias>
- <soft sid="soft" type="float">3</soft>
- <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
- <bufsize sid="bufsize" type="int">512</bufsize>
- <samp sid="samp" type="int">3</samp>
- <buffers sid="buffers" type="int">1</buffers>
- <filtertype sid="filtertype" type="int">0</filtertype>
- <bufflag sid="bufflag" type="int">0</bufflag>
- <buftype sid="buftype" type="int">2</buftype>
- <ray_samp sid="ray_samp" type="int">1</ray_samp>
- <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
- <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
- <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
- <area_shape sid="area_shape" type="int">0</area_shape>
- <area_size sid="area_size" type="float">0.1</area_size>
- <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
- <area_sizez sid="area_sizez" type="float">0.1</area_sizez>
- <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
- <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
- <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
- <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
- <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
- <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
- <spread sid="spread" type="float">1</spread>
- <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
- <sun_size sid="sun_size" type="float">1</sun_size>
- <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
- <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
- <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
- <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
- <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
- <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
- <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
- <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
- </technique>
- </extra>
- </light>
- <light id="Point_001-light" name="Point.001">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.001599967</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <type sid="type" type="int">0</type>
- <flag sid="flag" type="int">0</flag>
- <mode sid="mode" type="int">1</mode>
- <gamma sid="blender_gamma" type="float">1</gamma>
- <red sid="red" type="float">1</red>
- <green sid="green" type="float">1</green>
- <blue sid="blue" type="float">1</blue>
- <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
- <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
- <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
- <energy sid="blender_energy" type="float">1</energy>
- <dist sid="blender_dist" type="float">25</dist>
- <spotsize sid="spotsize" type="float">45</spotsize>
- <spotblend sid="spotblend" type="float">0.15</spotblend>
- <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
- <att1 sid="att1" type="float">0</att1>
- <att2 sid="att2" type="float">1</att2>
- <falloff_type sid="falloff_type" type="int">2</falloff_type>
- <clipsta sid="clipsta" type="float">0.5</clipsta>
- <clipend sid="clipend" type="float">40</clipend>
- <bias sid="bias" type="float">1</bias>
- <soft sid="soft" type="float">3</soft>
- <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
- <bufsize sid="bufsize" type="int">512</bufsize>
- <samp sid="samp" type="int">3</samp>
- <buffers sid="buffers" type="int">1</buffers>
- <filtertype sid="filtertype" type="int">0</filtertype>
- <bufflag sid="bufflag" type="int">0</bufflag>
- <buftype sid="buftype" type="int">2</buftype>
- <ray_samp sid="ray_samp" type="int">1</ray_samp>
- <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
- <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
- <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
- <area_shape sid="area_shape" type="int">0</area_shape>
- <area_size sid="area_size" type="float">0.1</area_size>
- <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
- <area_sizez sid="area_sizez" type="float">0.1</area_sizez>
- <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
- <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
- <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
- <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
- <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
- <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
- <spread sid="spread" type="float">1</spread>
- <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
- <sun_size sid="sun_size" type="float">1</sun_size>
- <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
- <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
- <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
- <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
- <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
- <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
- <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
- <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
- </technique>
- </extra>
- </light>
- <light id="Point_002-light" name="Point.002">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.001599967</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <type sid="type" type="int">0</type>
- <flag sid="flag" type="int">0</flag>
- <mode sid="mode" type="int">1</mode>
- <gamma sid="blender_gamma" type="float">1</gamma>
- <red sid="red" type="float">1</red>
- <green sid="green" type="float">1</green>
- <blue sid="blue" type="float">1</blue>
- <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
- <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
- <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
- <energy sid="blender_energy" type="float">1</energy>
- <dist sid="blender_dist" type="float">25</dist>
- <spotsize sid="spotsize" type="float">45</spotsize>
- <spotblend sid="spotblend" type="float">0.15</spotblend>
- <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
- <att1 sid="att1" type="float">0</att1>
- <att2 sid="att2" type="float">1</att2>
- <falloff_type sid="falloff_type" type="int">2</falloff_type>
- <clipsta sid="clipsta" type="float">0.5</clipsta>
- <clipend sid="clipend" type="float">40</clipend>
- <bias sid="bias" type="float">1</bias>
- <soft sid="soft" type="float">3</soft>
- <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
- <bufsize sid="bufsize" type="int">512</bufsize>
- <samp sid="samp" type="int">3</samp>
- <buffers sid="buffers" type="int">1</buffers>
- <filtertype sid="filtertype" type="int">0</filtertype>
- <bufflag sid="bufflag" type="int">0</bufflag>
- <buftype sid="buftype" type="int">2</buftype>
- <ray_samp sid="ray_samp" type="int">1</ray_samp>
- <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
- <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
- <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
- <area_shape sid="area_shape" type="int">0</area_shape>
- <area_size sid="area_size" type="float">0.1</area_size>
- <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
- <area_sizez sid="area_sizez" type="float">0.1</area_sizez>
- <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
- <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
- <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
- <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
- <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
- <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
- <spread sid="spread" type="float">1</spread>
- <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
- <sun_size sid="sun_size" type="float">1</sun_size>
- <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
- <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
- <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
- <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
- <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
- <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
- <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
- <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
- </technique>
- </extra>
- </light>
- <light id="Point_003-light" name="Point.003">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.001599967</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <type sid="type" type="int">0</type>
- <flag sid="flag" type="int">0</flag>
- <mode sid="mode" type="int">1</mode>
- <gamma sid="blender_gamma" type="float">1</gamma>
- <red sid="red" type="float">1</red>
- <green sid="green" type="float">1</green>
- <blue sid="blue" type="float">1</blue>
- <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
- <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
- <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
- <energy sid="blender_energy" type="float">1</energy>
- <dist sid="blender_dist" type="float">25</dist>
- <spotsize sid="spotsize" type="float">45</spotsize>
- <spotblend sid="spotblend" type="float">0.15</spotblend>
- <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
- <att1 sid="att1" type="float">0</att1>
- <att2 sid="att2" type="float">1</att2>
- <falloff_type sid="falloff_type" type="int">2</falloff_type>
- <clipsta sid="clipsta" type="float">0.5</clipsta>
- <clipend sid="clipend" type="float">40</clipend>
- <bias sid="bias" type="float">1</bias>
- <soft sid="soft" type="float">3</soft>
- <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
- <bufsize sid="bufsize" type="int">512</bufsize>
- <samp sid="samp" type="int">3</samp>
- <buffers sid="buffers" type="int">1</buffers>
- <filtertype sid="filtertype" type="int">0</filtertype>
- <bufflag sid="bufflag" type="int">0</bufflag>
- <buftype sid="buftype" type="int">2</buftype>
- <ray_samp sid="ray_samp" type="int">1</ray_samp>
- <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
- <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
- <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
- <area_shape sid="area_shape" type="int">0</area_shape>
- <area_size sid="area_size" type="float">0.1</area_size>
- <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
- <area_sizez sid="area_sizez" type="float">0.1</area_sizez>
- <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
- <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
- <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
- <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
- <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
- <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
- <spread sid="spread" type="float">1</spread>
- <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
- <sun_size sid="sun_size" type="float">1</sun_size>
- <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
- <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
- <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
- <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
- <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
- <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
- <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
- <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
- </technique>
- </extra>
- </light>
- <light id="Point_004-light" name="Point.004">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.001599967</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <type sid="type" type="int">0</type>
- <flag sid="flag" type="int">0</flag>
- <mode sid="mode" type="int">1</mode>
- <gamma sid="blender_gamma" type="float">1</gamma>
- <red sid="red" type="float">1</red>
- <green sid="green" type="float">1</green>
- <blue sid="blue" type="float">1</blue>
- <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
- <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
- <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
- <energy sid="blender_energy" type="float">1</energy>
- <dist sid="blender_dist" type="float">25</dist>
- <spotsize sid="spotsize" type="float">45</spotsize>
- <spotblend sid="spotblend" type="float">0.15</spotblend>
- <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
- <att1 sid="att1" type="float">0</att1>
- <att2 sid="att2" type="float">1</att2>
- <falloff_type sid="falloff_type" type="int">2</falloff_type>
- <clipsta sid="clipsta" type="float">0.5</clipsta>
- <clipend sid="clipend" type="float">40</clipend>
- <bias sid="bias" type="float">1</bias>
- <soft sid="soft" type="float">3</soft>
- <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
- <bufsize sid="bufsize" type="int">512</bufsize>
- <samp sid="samp" type="int">3</samp>
- <buffers sid="buffers" type="int">1</buffers>
- <filtertype sid="filtertype" type="int">0</filtertype>
- <bufflag sid="bufflag" type="int">0</bufflag>
- <buftype sid="buftype" type="int">2</buftype>
- <ray_samp sid="ray_samp" type="int">1</ray_samp>
- <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
- <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
- <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
- <area_shape sid="area_shape" type="int">0</area_shape>
- <area_size sid="area_size" type="float">0.1</area_size>
- <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
- <area_sizez sid="area_sizez" type="float">0.1</area_sizez>
- <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
- <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
- <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
- <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
- <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
- <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
- <spread sid="spread" type="float">1</spread>
- <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
- <sun_size sid="sun_size" type="float">1</sun_size>
- <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
- <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
- <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
- <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
- <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
- <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
- <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
- <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
- </technique>
- </extra>
- </light>
- <light id="Point_005-light" name="Point.005">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.001599967</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <type sid="type" type="int">0</type>
- <flag sid="flag" type="int">0</flag>
- <mode sid="mode" type="int">1</mode>
- <gamma sid="blender_gamma" type="float">1</gamma>
- <red sid="red" type="float">1</red>
- <green sid="green" type="float">1</green>
- <blue sid="blue" type="float">1</blue>
- <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
- <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
- <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
- <energy sid="blender_energy" type="float">1</energy>
- <dist sid="blender_dist" type="float">25</dist>
- <spotsize sid="spotsize" type="float">45</spotsize>
- <spotblend sid="spotblend" type="float">0.15</spotblend>
- <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
- <att1 sid="att1" type="float">0</att1>
- <att2 sid="att2" type="float">1</att2>
- <falloff_type sid="falloff_type" type="int">2</falloff_type>
- <clipsta sid="clipsta" type="float">0.5</clipsta>
- <clipend sid="clipend" type="float">40</clipend>
- <bias sid="bias" type="float">1</bias>
- <soft sid="soft" type="float">3</soft>
- <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
- <bufsize sid="bufsize" type="int">512</bufsize>
- <samp sid="samp" type="int">3</samp>
- <buffers sid="buffers" type="int">1</buffers>
- <filtertype sid="filtertype" type="int">0</filtertype>
- <bufflag sid="bufflag" type="int">0</bufflag>
- <buftype sid="buftype" type="int">2</buftype>
- <ray_samp sid="ray_samp" type="int">1</ray_samp>
- <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
- <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
- <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
- <area_shape sid="area_shape" type="int">0</area_shape>
- <area_size sid="area_size" type="float">0.1</area_size>
- <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
- <area_sizez sid="area_sizez" type="float">0.1</area_sizez>
- <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
- <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
- <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
- <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
- <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
- <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
- <spread sid="spread" type="float">1</spread>
- <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
- <sun_size sid="sun_size" type="float">1</sun_size>
- <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
- <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
- <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
- <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
- <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
- <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
- <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
- <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
- </technique>
- </extra>
- </light>
- </library_lights>
<library_images/>
<library_effects>
<effect id="Material_001-effect">
@@ -711,30 +301,6 @@
<matrix sid="transform">9.63543e-4 3.59415e-11 -2.67504e-4 0 -3.59415e-11 9.99987e-4 4.89654e-12 0 2.67504e-4 4.89653e-12 9.63543e-4 0 0 0 0 1</matrix>
<instance_geometry url="#_42196_00-ASM_ANYmal_shank_left_EDI_005-mesh" name="_42196_00-ASM_ANYmal_shank_left_EDI_005"/>
</node>
- <node id="Point" name="Point" type="NODE">
- <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 20 0 0 0 1</matrix>
- <instance_light url="#Point-light"/>
- </node>
- <node id="Point_001" name="Point_001" type="NODE">
- <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 -20 0 0 0 1</matrix>
- <instance_light url="#Point_001-light"/>
- </node>
- <node id="Point_002" name="Point_002" type="NODE">
- <matrix sid="transform">1 0 0 20 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
- <instance_light url="#Point_002-light"/>
- </node>
- <node id="Point_003" name="Point_003" type="NODE">
- <matrix sid="transform">1 0 0 -20 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
- <instance_light url="#Point_003-light"/>
- </node>
- <node id="Point_004" name="Point_004" type="NODE">
- <matrix sid="transform">1 0 0 0 0 1 0 20 0 0 1 0 0 0 0 1</matrix>
- <instance_light url="#Point_004-light"/>
- </node>
- <node id="Point_005" name="Point_005" type="NODE">
- <matrix sid="transform">1 0 0 0 0 1 0 -20 0 0 1 0 0 0 0 1</matrix>
- <instance_light url="#Point_005-light"/>
- </node>
</visual_scene>
</library_visual_scenes>
<scene>
diff --git a/robots/anymal_b_simple_description/meshes/thigh/anymal_thigh.dae b/robots/anymal_b_simple_description/meshes/thigh/anymal_thigh.dae
index 5ddf2b0e2b13050ee8027a7dce4db34f41d07b2e..843d25b56e848e09d15e56d60e06cb20ebcf7bc9 100644
--- a/robots/anymal_b_simple_description/meshes/thigh/anymal_thigh.dae
+++ b/robots/anymal_b_simple_description/meshes/thigh/anymal_thigh.dae
@@ -31,416 +31,6 @@
</extra>
</camera>
</library_cameras>
- <library_lights>
- <light id="Point-light" name="Point">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.001599967</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <type sid="type" type="int">0</type>
- <flag sid="flag" type="int">0</flag>
- <mode sid="mode" type="int">1</mode>
- <gamma sid="blender_gamma" type="float">1</gamma>
- <red sid="red" type="float">1</red>
- <green sid="green" type="float">1</green>
- <blue sid="blue" type="float">1</blue>
- <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
- <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
- <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
- <energy sid="blender_energy" type="float">1</energy>
- <dist sid="blender_dist" type="float">25</dist>
- <spotsize sid="spotsize" type="float">45</spotsize>
- <spotblend sid="spotblend" type="float">0.15</spotblend>
- <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
- <att1 sid="att1" type="float">0</att1>
- <att2 sid="att2" type="float">1</att2>
- <falloff_type sid="falloff_type" type="int">2</falloff_type>
- <clipsta sid="clipsta" type="float">0.5</clipsta>
- <clipend sid="clipend" type="float">40</clipend>
- <bias sid="bias" type="float">1</bias>
- <soft sid="soft" type="float">3</soft>
- <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
- <bufsize sid="bufsize" type="int">512</bufsize>
- <samp sid="samp" type="int">3</samp>
- <buffers sid="buffers" type="int">1</buffers>
- <filtertype sid="filtertype" type="int">0</filtertype>
- <bufflag sid="bufflag" type="int">0</bufflag>
- <buftype sid="buftype" type="int">2</buftype>
- <ray_samp sid="ray_samp" type="int">1</ray_samp>
- <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
- <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
- <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
- <area_shape sid="area_shape" type="int">0</area_shape>
- <area_size sid="area_size" type="float">0.1</area_size>
- <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
- <area_sizez sid="area_sizez" type="float">0.1</area_sizez>
- <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
- <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
- <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
- <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
- <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
- <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
- <spread sid="spread" type="float">1</spread>
- <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
- <sun_size sid="sun_size" type="float">1</sun_size>
- <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
- <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
- <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
- <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
- <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
- <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
- <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
- <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
- </technique>
- </extra>
- </light>
- <light id="Point_001-light" name="Point.001">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.001599967</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <type sid="type" type="int">0</type>
- <flag sid="flag" type="int">0</flag>
- <mode sid="mode" type="int">1</mode>
- <gamma sid="blender_gamma" type="float">1</gamma>
- <red sid="red" type="float">1</red>
- <green sid="green" type="float">1</green>
- <blue sid="blue" type="float">1</blue>
- <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
- <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
- <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
- <energy sid="blender_energy" type="float">1</energy>
- <dist sid="blender_dist" type="float">25</dist>
- <spotsize sid="spotsize" type="float">45</spotsize>
- <spotblend sid="spotblend" type="float">0.15</spotblend>
- <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
- <att1 sid="att1" type="float">0</att1>
- <att2 sid="att2" type="float">1</att2>
- <falloff_type sid="falloff_type" type="int">2</falloff_type>
- <clipsta sid="clipsta" type="float">0.5</clipsta>
- <clipend sid="clipend" type="float">40</clipend>
- <bias sid="bias" type="float">1</bias>
- <soft sid="soft" type="float">3</soft>
- <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
- <bufsize sid="bufsize" type="int">512</bufsize>
- <samp sid="samp" type="int">3</samp>
- <buffers sid="buffers" type="int">1</buffers>
- <filtertype sid="filtertype" type="int">0</filtertype>
- <bufflag sid="bufflag" type="int">0</bufflag>
- <buftype sid="buftype" type="int">2</buftype>
- <ray_samp sid="ray_samp" type="int">1</ray_samp>
- <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
- <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
- <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
- <area_shape sid="area_shape" type="int">0</area_shape>
- <area_size sid="area_size" type="float">0.1</area_size>
- <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
- <area_sizez sid="area_sizez" type="float">0.1</area_sizez>
- <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
- <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
- <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
- <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
- <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
- <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
- <spread sid="spread" type="float">1</spread>
- <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
- <sun_size sid="sun_size" type="float">1</sun_size>
- <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
- <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
- <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
- <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
- <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
- <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
- <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
- <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
- </technique>
- </extra>
- </light>
- <light id="Point_002-light" name="Point.002">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.001599967</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <type sid="type" type="int">0</type>
- <flag sid="flag" type="int">0</flag>
- <mode sid="mode" type="int">1</mode>
- <gamma sid="blender_gamma" type="float">1</gamma>
- <red sid="red" type="float">1</red>
- <green sid="green" type="float">1</green>
- <blue sid="blue" type="float">1</blue>
- <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
- <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
- <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
- <energy sid="blender_energy" type="float">1</energy>
- <dist sid="blender_dist" type="float">25</dist>
- <spotsize sid="spotsize" type="float">45</spotsize>
- <spotblend sid="spotblend" type="float">0.15</spotblend>
- <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
- <att1 sid="att1" type="float">0</att1>
- <att2 sid="att2" type="float">1</att2>
- <falloff_type sid="falloff_type" type="int">2</falloff_type>
- <clipsta sid="clipsta" type="float">0.5</clipsta>
- <clipend sid="clipend" type="float">40</clipend>
- <bias sid="bias" type="float">1</bias>
- <soft sid="soft" type="float">3</soft>
- <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
- <bufsize sid="bufsize" type="int">512</bufsize>
- <samp sid="samp" type="int">3</samp>
- <buffers sid="buffers" type="int">1</buffers>
- <filtertype sid="filtertype" type="int">0</filtertype>
- <bufflag sid="bufflag" type="int">0</bufflag>
- <buftype sid="buftype" type="int">2</buftype>
- <ray_samp sid="ray_samp" type="int">1</ray_samp>
- <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
- <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
- <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
- <area_shape sid="area_shape" type="int">0</area_shape>
- <area_size sid="area_size" type="float">0.1</area_size>
- <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
- <area_sizez sid="area_sizez" type="float">0.1</area_sizez>
- <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
- <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
- <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
- <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
- <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
- <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
- <spread sid="spread" type="float">1</spread>
- <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
- <sun_size sid="sun_size" type="float">1</sun_size>
- <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
- <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
- <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
- <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
- <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
- <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
- <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
- <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
- </technique>
- </extra>
- </light>
- <light id="Point_003-light" name="Point.003">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.001599967</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <type sid="type" type="int">0</type>
- <flag sid="flag" type="int">0</flag>
- <mode sid="mode" type="int">1</mode>
- <gamma sid="blender_gamma" type="float">1</gamma>
- <red sid="red" type="float">1</red>
- <green sid="green" type="float">1</green>
- <blue sid="blue" type="float">1</blue>
- <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
- <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
- <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
- <energy sid="blender_energy" type="float">1</energy>
- <dist sid="blender_dist" type="float">25</dist>
- <spotsize sid="spotsize" type="float">45</spotsize>
- <spotblend sid="spotblend" type="float">0.15</spotblend>
- <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
- <att1 sid="att1" type="float">0</att1>
- <att2 sid="att2" type="float">1</att2>
- <falloff_type sid="falloff_type" type="int">2</falloff_type>
- <clipsta sid="clipsta" type="float">0.5</clipsta>
- <clipend sid="clipend" type="float">40</clipend>
- <bias sid="bias" type="float">1</bias>
- <soft sid="soft" type="float">3</soft>
- <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
- <bufsize sid="bufsize" type="int">512</bufsize>
- <samp sid="samp" type="int">3</samp>
- <buffers sid="buffers" type="int">1</buffers>
- <filtertype sid="filtertype" type="int">0</filtertype>
- <bufflag sid="bufflag" type="int">0</bufflag>
- <buftype sid="buftype" type="int">2</buftype>
- <ray_samp sid="ray_samp" type="int">1</ray_samp>
- <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
- <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
- <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
- <area_shape sid="area_shape" type="int">0</area_shape>
- <area_size sid="area_size" type="float">0.1</area_size>
- <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
- <area_sizez sid="area_sizez" type="float">0.1</area_sizez>
- <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
- <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
- <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
- <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
- <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
- <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
- <spread sid="spread" type="float">1</spread>
- <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
- <sun_size sid="sun_size" type="float">1</sun_size>
- <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
- <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
- <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
- <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
- <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
- <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
- <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
- <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
- </technique>
- </extra>
- </light>
- <light id="Point_004-light" name="Point.004">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.001599967</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <type sid="type" type="int">0</type>
- <flag sid="flag" type="int">0</flag>
- <mode sid="mode" type="int">1</mode>
- <gamma sid="blender_gamma" type="float">1</gamma>
- <red sid="red" type="float">1</red>
- <green sid="green" type="float">1</green>
- <blue sid="blue" type="float">1</blue>
- <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
- <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
- <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
- <energy sid="blender_energy" type="float">1</energy>
- <dist sid="blender_dist" type="float">25</dist>
- <spotsize sid="spotsize" type="float">45</spotsize>
- <spotblend sid="spotblend" type="float">0.15</spotblend>
- <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
- <att1 sid="att1" type="float">0</att1>
- <att2 sid="att2" type="float">1</att2>
- <falloff_type sid="falloff_type" type="int">2</falloff_type>
- <clipsta sid="clipsta" type="float">0.5</clipsta>
- <clipend sid="clipend" type="float">40</clipend>
- <bias sid="bias" type="float">1</bias>
- <soft sid="soft" type="float">3</soft>
- <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
- <bufsize sid="bufsize" type="int">512</bufsize>
- <samp sid="samp" type="int">3</samp>
- <buffers sid="buffers" type="int">1</buffers>
- <filtertype sid="filtertype" type="int">0</filtertype>
- <bufflag sid="bufflag" type="int">0</bufflag>
- <buftype sid="buftype" type="int">2</buftype>
- <ray_samp sid="ray_samp" type="int">1</ray_samp>
- <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
- <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
- <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
- <area_shape sid="area_shape" type="int">0</area_shape>
- <area_size sid="area_size" type="float">0.1</area_size>
- <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
- <area_sizez sid="area_sizez" type="float">0.1</area_sizez>
- <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
- <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
- <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
- <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
- <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
- <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
- <spread sid="spread" type="float">1</spread>
- <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
- <sun_size sid="sun_size" type="float">1</sun_size>
- <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
- <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
- <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
- <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
- <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
- <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
- <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
- <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
- </technique>
- </extra>
- </light>
- <light id="Point_005-light" name="Point.005">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.001599967</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <type sid="type" type="int">0</type>
- <flag sid="flag" type="int">0</flag>
- <mode sid="mode" type="int">1</mode>
- <gamma sid="blender_gamma" type="float">1</gamma>
- <red sid="red" type="float">1</red>
- <green sid="green" type="float">1</green>
- <blue sid="blue" type="float">1</blue>
- <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
- <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
- <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
- <energy sid="blender_energy" type="float">1</energy>
- <dist sid="blender_dist" type="float">25</dist>
- <spotsize sid="spotsize" type="float">45</spotsize>
- <spotblend sid="spotblend" type="float">0.15</spotblend>
- <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
- <att1 sid="att1" type="float">0</att1>
- <att2 sid="att2" type="float">1</att2>
- <falloff_type sid="falloff_type" type="int">2</falloff_type>
- <clipsta sid="clipsta" type="float">0.5</clipsta>
- <clipend sid="clipend" type="float">40</clipend>
- <bias sid="bias" type="float">1</bias>
- <soft sid="soft" type="float">3</soft>
- <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
- <bufsize sid="bufsize" type="int">512</bufsize>
- <samp sid="samp" type="int">3</samp>
- <buffers sid="buffers" type="int">1</buffers>
- <filtertype sid="filtertype" type="int">0</filtertype>
- <bufflag sid="bufflag" type="int">0</bufflag>
- <buftype sid="buftype" type="int">2</buftype>
- <ray_samp sid="ray_samp" type="int">1</ray_samp>
- <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
- <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
- <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
- <area_shape sid="area_shape" type="int">0</area_shape>
- <area_size sid="area_size" type="float">0.1</area_size>
- <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
- <area_sizez sid="area_sizez" type="float">0.1</area_sizez>
- <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
- <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
- <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
- <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
- <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
- <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
- <spread sid="spread" type="float">1</spread>
- <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
- <sun_size sid="sun_size" type="float">1</sun_size>
- <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
- <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
- <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
- <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
- <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
- <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
- <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
- <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
- </technique>
- </extra>
- </light>
- </library_lights>
<library_images/>
<library_effects>
<effect id="foam_dark-effect">
@@ -1021,30 +611,6 @@
</bind_material>
</instance_geometry>
</node>
- <node id="Point" name="Point" type="NODE">
- <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 20 0 0 0 1</matrix>
- <instance_light url="#Point-light"/>
- </node>
- <node id="Point_001" name="Point_001" type="NODE">
- <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 -20 0 0 0 1</matrix>
- <instance_light url="#Point_001-light"/>
- </node>
- <node id="Point_002" name="Point_002" type="NODE">
- <matrix sid="transform">1 0 0 20 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
- <instance_light url="#Point_002-light"/>
- </node>
- <node id="Point_003" name="Point_003" type="NODE">
- <matrix sid="transform">1 0 0 -20 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
- <instance_light url="#Point_003-light"/>
- </node>
- <node id="Point_004" name="Point_004" type="NODE">
- <matrix sid="transform">1 0 0 0 0 1 0 20 0 0 1 0 0 0 0 1</matrix>
- <instance_light url="#Point_004-light"/>
- </node>
- <node id="Point_005" name="Point_005" type="NODE">
- <matrix sid="transform">1 0 0 0 0 1 0 -20 0 0 1 0 0 0 0 1</matrix>
- <instance_light url="#Point_005-light"/>
- </node>
</visual_scene>
</library_visual_scenes>
<scene>