diff --git a/robots/ur_description/meshes/ur10/visual/forearm.dae b/robots/ur_description/meshes/ur10/visual/forearm.dae
index d70067a265c37aa5878cd1f1aa0459e03c7ed39e..df78fe03d249decd65eb0a9a2827f55ca19f704d 100644
--- a/robots/ur_description/meshes/ur10/visual/forearm.dae
+++ b/robots/ur_description/meshes/ur10/visual/forearm.dae
@@ -50,144 +50,6 @@
</extra>
</camera>
</library_cameras>
- <library_lights>
- <light id="Lamp-light" name="Lamp">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.00111109</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <adapt_thresh>0.000999987</adapt_thresh>
- <area_shape>1</area_shape>
- <area_size>0.1</area_size>
- <area_sizey>0.1</area_sizey>
- <area_sizez>1</area_sizez>
- <atm_distance_factor>1</atm_distance_factor>
- <atm_extinction_factor>1</atm_extinction_factor>
- <atm_turbidity>2</atm_turbidity>
- <att1>0</att1>
- <att2>1</att2>
- <backscattered_light>1</backscattered_light>
- <bias>1</bias>
- <blue>1</blue>
- <buffers>1</buffers>
- <bufflag>0</bufflag>
- <bufsize>2880</bufsize>
- <buftype>2</buftype>
- <clipend>30.002</clipend>
- <clipsta>1.000799</clipsta>
- <compressthresh>0.04999995</compressthresh>
- <dist sid="blender_dist">29.99998</dist>
- <energy sid="blender_energy">1</energy>
- <falloff_type>2</falloff_type>
- <filtertype>0</filtertype>
- <flag>0</flag>
- <gamma sid="blender_gamma">1</gamma>
- <green>1</green>
- <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
- <horizon_brightness>1</horizon_brightness>
- <mode>8192</mode>
- <ray_samp>1</ray_samp>
- <ray_samp_method>1</ray_samp_method>
- <ray_samp_type>0</ray_samp_type>
- <ray_sampy>1</ray_sampy>
- <ray_sampz>1</ray_sampz>
- <red>1</red>
- <samp>3</samp>
- <shadhalostep>0</shadhalostep>
- <shadow_b sid="blender_shadow_b">0</shadow_b>
- <shadow_g sid="blender_shadow_g">0</shadow_g>
- <shadow_r sid="blender_shadow_r">0</shadow_r>
- <sky_colorspace>0</sky_colorspace>
- <sky_exposure>1</sky_exposure>
- <skyblendfac>1</skyblendfac>
- <skyblendtype>1</skyblendtype>
- <soft>3</soft>
- <spotblend>0.15</spotblend>
- <spotsize>75</spotsize>
- <spread>1</spread>
- <sun_brightness>1</sun_brightness>
- <sun_effect_type>0</sun_effect_type>
- <sun_intensity>1</sun_intensity>
- <sun_size>1</sun_size>
- <type>0</type>
- </technique>
- </extra>
- </light>
- <light id="Lamp_001-light" name="Lamp.001">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.00111109</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <adapt_thresh>9.99987e-4</adapt_thresh>
- <area_shape>1</area_shape>
- <area_size>0.1</area_size>
- <area_sizey>0.1</area_sizey>
- <area_sizez>1</area_sizez>
- <atm_distance_factor>1</atm_distance_factor>
- <atm_extinction_factor>1</atm_extinction_factor>
- <atm_turbidity>2</atm_turbidity>
- <att1>0</att1>
- <att2>1</att2>
- <backscattered_light>1</backscattered_light>
- <bias>1</bias>
- <blue>1</blue>
- <buffers>1</buffers>
- <bufflag>0</bufflag>
- <bufsize>2880</bufsize>
- <buftype>2</buftype>
- <clipend>30.002</clipend>
- <clipsta>1.000799</clipsta>
- <compressthresh>0.04999995</compressthresh>
- <dist sid="blender_dist">29.99998</dist>
- <energy sid="blender_energy">1</energy>
- <falloff_type>2</falloff_type>
- <filtertype>0</filtertype>
- <flag>0</flag>
- <gamma sid="blender_gamma">1</gamma>
- <green>1</green>
- <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
- <horizon_brightness>1</horizon_brightness>
- <mode>8192</mode>
- <ray_samp>1</ray_samp>
- <ray_samp_method>1</ray_samp_method>
- <ray_samp_type>0</ray_samp_type>
- <ray_sampy>1</ray_sampy>
- <ray_sampz>1</ray_sampz>
- <red>1</red>
- <samp>3</samp>
- <shadhalostep>0</shadhalostep>
- <shadow_b sid="blender_shadow_b">0</shadow_b>
- <shadow_g sid="blender_shadow_g">0</shadow_g>
- <shadow_r sid="blender_shadow_r">0</shadow_r>
- <sky_colorspace>0</sky_colorspace>
- <sky_exposure>1</sky_exposure>
- <skyblendfac>1</skyblendfac>
- <skyblendtype>1</skyblendtype>
- <soft>3</soft>
- <spotblend>0.15</spotblend>
- <spotsize>75</spotsize>
- <spread>1</spread>
- <sun_brightness>1</sun_brightness>
- <sun_effect_type>0</sun_effect_type>
- <sun_intensity>1</sun_intensity>
- <sun_size>1</sun_size>
- <type>0</type>
- </technique>
- </extra>
- </light>
- </library_lights>
<library_images/>
<library_effects>
<effect id="SWMaterial-0-effect">
@@ -594,4 +456,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/ur_description/meshes/ur10/visual/shoulder.dae b/robots/ur_description/meshes/ur10/visual/shoulder.dae
index 22567d65995d29e87e9a5b018ba5d4e5f8fa76fd..82116f936f80b3962f9f1db3d3cc8a65795ac340 100644
--- a/robots/ur_description/meshes/ur10/visual/shoulder.dae
+++ b/robots/ur_description/meshes/ur10/visual/shoulder.dae
@@ -50,144 +50,6 @@
</extra>
</camera>
</library_cameras>
- <library_lights>
- <light id="Lamp-light" name="Lamp">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.00111109</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <adapt_thresh>0.000999987</adapt_thresh>
- <area_shape>1</area_shape>
- <area_size>0.1</area_size>
- <area_sizey>0.1</area_sizey>
- <area_sizez>1</area_sizez>
- <atm_distance_factor>1</atm_distance_factor>
- <atm_extinction_factor>1</atm_extinction_factor>
- <atm_turbidity>2</atm_turbidity>
- <att1>0</att1>
- <att2>1</att2>
- <backscattered_light>1</backscattered_light>
- <bias>1</bias>
- <blue>1</blue>
- <buffers>1</buffers>
- <bufflag>0</bufflag>
- <bufsize>2880</bufsize>
- <buftype>2</buftype>
- <clipend>30.002</clipend>
- <clipsta>1.000799</clipsta>
- <compressthresh>0.04999995</compressthresh>
- <dist sid="blender_dist">29.99998</dist>
- <energy sid="blender_energy">1</energy>
- <falloff_type>2</falloff_type>
- <filtertype>0</filtertype>
- <flag>0</flag>
- <gamma sid="blender_gamma">1</gamma>
- <green>1</green>
- <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
- <horizon_brightness>1</horizon_brightness>
- <mode>8192</mode>
- <ray_samp>1</ray_samp>
- <ray_samp_method>1</ray_samp_method>
- <ray_samp_type>0</ray_samp_type>
- <ray_sampy>1</ray_sampy>
- <ray_sampz>1</ray_sampz>
- <red>1</red>
- <samp>3</samp>
- <shadhalostep>0</shadhalostep>
- <shadow_b sid="blender_shadow_b">0</shadow_b>
- <shadow_g sid="blender_shadow_g">0</shadow_g>
- <shadow_r sid="blender_shadow_r">0</shadow_r>
- <sky_colorspace>0</sky_colorspace>
- <sky_exposure>1</sky_exposure>
- <skyblendfac>1</skyblendfac>
- <skyblendtype>1</skyblendtype>
- <soft>3</soft>
- <spotblend>0.15</spotblend>
- <spotsize>75</spotsize>
- <spread>1</spread>
- <sun_brightness>1</sun_brightness>
- <sun_effect_type>0</sun_effect_type>
- <sun_intensity>1</sun_intensity>
- <sun_size>1</sun_size>
- <type>0</type>
- </technique>
- </extra>
- </light>
- <light id="Lamp_001-light" name="Lamp.001">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.00111109</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <adapt_thresh>9.99987e-4</adapt_thresh>
- <area_shape>1</area_shape>
- <area_size>0.1</area_size>
- <area_sizey>0.1</area_sizey>
- <area_sizez>1</area_sizez>
- <atm_distance_factor>1</atm_distance_factor>
- <atm_extinction_factor>1</atm_extinction_factor>
- <atm_turbidity>2</atm_turbidity>
- <att1>0</att1>
- <att2>1</att2>
- <backscattered_light>1</backscattered_light>
- <bias>1</bias>
- <blue>1</blue>
- <buffers>1</buffers>
- <bufflag>0</bufflag>
- <bufsize>2880</bufsize>
- <buftype>2</buftype>
- <clipend>30.002</clipend>
- <clipsta>1.000799</clipsta>
- <compressthresh>0.04999995</compressthresh>
- <dist sid="blender_dist">29.99998</dist>
- <energy sid="blender_energy">1</energy>
- <falloff_type>2</falloff_type>
- <filtertype>0</filtertype>
- <flag>0</flag>
- <gamma sid="blender_gamma">1</gamma>
- <green>1</green>
- <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
- <horizon_brightness>1</horizon_brightness>
- <mode>8192</mode>
- <ray_samp>1</ray_samp>
- <ray_samp_method>1</ray_samp_method>
- <ray_samp_type>0</ray_samp_type>
- <ray_sampy>1</ray_sampy>
- <ray_sampz>1</ray_sampz>
- <red>1</red>
- <samp>3</samp>
- <shadhalostep>0</shadhalostep>
- <shadow_b sid="blender_shadow_b">0</shadow_b>
- <shadow_g sid="blender_shadow_g">0</shadow_g>
- <shadow_r sid="blender_shadow_r">0</shadow_r>
- <sky_colorspace>0</sky_colorspace>
- <sky_exposure>1</sky_exposure>
- <skyblendfac>1</skyblendfac>
- <skyblendtype>1</skyblendtype>
- <soft>3</soft>
- <spotblend>0.15</spotblend>
- <spotsize>75</spotsize>
- <spread>1</spread>
- <sun_brightness>1</sun_brightness>
- <sun_effect_type>0</sun_effect_type>
- <sun_intensity>1</sun_intensity>
- <sun_size>1</sun_size>
- <type>0</type>
- </technique>
- </extra>
- </light>
- </library_lights>
<library_images/>
<library_effects>
<effect id="SWMaterial-0-effect">
@@ -442,4 +304,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/ur_description/meshes/ur10/visual/upperarm.dae b/robots/ur_description/meshes/ur10/visual/upperarm.dae
index 010ff9638cde4cbbb233dec584679293e023dedf..fa832af879de6bf4ebc58ced3df2f8ab9bb7cb5c 100644
--- a/robots/ur_description/meshes/ur10/visual/upperarm.dae
+++ b/robots/ur_description/meshes/ur10/visual/upperarm.dae
@@ -145,416 +145,6 @@
</extra>
</camera>
</library_cameras>
- <library_lights>
- <light id="Lamp-light" name="Lamp">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.00111109</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <adapt_thresh>0.000999987</adapt_thresh>
- <area_shape>1</area_shape>
- <area_size>0.1</area_size>
- <area_sizey>0.1</area_sizey>
- <area_sizez>1</area_sizez>
- <atm_distance_factor>1</atm_distance_factor>
- <atm_extinction_factor>1</atm_extinction_factor>
- <atm_turbidity>2</atm_turbidity>
- <att1>0</att1>
- <att2>1</att2>
- <backscattered_light>1</backscattered_light>
- <bias>1</bias>
- <blue>1</blue>
- <buffers>1</buffers>
- <bufflag>0</bufflag>
- <bufsize>2880</bufsize>
- <buftype>2</buftype>
- <clipend>30.002</clipend>
- <clipsta>1.000799</clipsta>
- <compressthresh>0.04999995</compressthresh>
- <dist sid="blender_dist">29.99998</dist>
- <energy sid="blender_energy">1</energy>
- <falloff_type>2</falloff_type>
- <filtertype>0</filtertype>
- <flag>0</flag>
- <gamma sid="blender_gamma">1</gamma>
- <green>1</green>
- <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
- <horizon_brightness>1</horizon_brightness>
- <mode>8192</mode>
- <ray_samp>1</ray_samp>
- <ray_samp_method>1</ray_samp_method>
- <ray_samp_type>0</ray_samp_type>
- <ray_sampy>1</ray_sampy>
- <ray_sampz>1</ray_sampz>
- <red>1</red>
- <samp>3</samp>
- <shadhalostep>0</shadhalostep>
- <shadow_b sid="blender_shadow_b">0</shadow_b>
- <shadow_g sid="blender_shadow_g">0</shadow_g>
- <shadow_r sid="blender_shadow_r">0</shadow_r>
- <sky_colorspace>0</sky_colorspace>
- <sky_exposure>1</sky_exposure>
- <skyblendfac>1</skyblendfac>
- <skyblendtype>1</skyblendtype>
- <soft>3</soft>
- <spotblend>0.15</spotblend>
- <spotsize>75</spotsize>
- <spread>1</spread>
- <sun_brightness>1</sun_brightness>
- <sun_effect_type>0</sun_effect_type>
- <sun_intensity>1</sun_intensity>
- <sun_size>1</sun_size>
- <type>0</type>
- </technique>
- </extra>
- </light>
- <light id="Lamp_001-light" name="Lamp.001">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.00111109</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <adapt_thresh>9.99987e-4</adapt_thresh>
- <area_shape>1</area_shape>
- <area_size>0.1</area_size>
- <area_sizey>0.1</area_sizey>
- <area_sizez>1</area_sizez>
- <atm_distance_factor>1</atm_distance_factor>
- <atm_extinction_factor>1</atm_extinction_factor>
- <atm_turbidity>2</atm_turbidity>
- <att1>0</att1>
- <att2>1</att2>
- <backscattered_light>1</backscattered_light>
- <bias>1</bias>
- <blue>1</blue>
- <buffers>1</buffers>
- <bufflag>0</bufflag>
- <bufsize>2880</bufsize>
- <buftype>2</buftype>
- <clipend>30.002</clipend>
- <clipsta>1.000799</clipsta>
- <compressthresh>0.04999995</compressthresh>
- <dist sid="blender_dist">29.99998</dist>
- <energy sid="blender_energy">1</energy>
- <falloff_type>2</falloff_type>
- <filtertype>0</filtertype>
- <flag>0</flag>
- <gamma sid="blender_gamma">1</gamma>
- <green>1</green>
- <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
- <horizon_brightness>1</horizon_brightness>
- <mode>8192</mode>
- <ray_samp>1</ray_samp>
- <ray_samp_method>1</ray_samp_method>
- <ray_samp_type>0</ray_samp_type>
- <ray_sampy>1</ray_sampy>
- <ray_sampz>1</ray_sampz>
- <red>1</red>
- <samp>3</samp>
- <shadhalostep>0</shadhalostep>
- <shadow_b sid="blender_shadow_b">0</shadow_b>
- <shadow_g sid="blender_shadow_g">0</shadow_g>
- <shadow_r sid="blender_shadow_r">0</shadow_r>
- <sky_colorspace>0</sky_colorspace>
- <sky_exposure>1</sky_exposure>
- <skyblendfac>1</skyblendfac>
- <skyblendtype>1</skyblendtype>
- <soft>3</soft>
- <spotblend>0.15</spotblend>
- <spotsize>75</spotsize>
- <spread>1</spread>
- <sun_brightness>1</sun_brightness>
- <sun_effect_type>0</sun_effect_type>
- <sun_intensity>1</sun_intensity>
- <sun_size>1</sun_size>
- <type>0</type>
- </technique>
- </extra>
- </light>
- <light id="Lamp_001-light" name="Lamp.002">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.00111109</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <adapt_thresh>9.99987e-4</adapt_thresh>
- <area_shape>1</area_shape>
- <area_size>0.1</area_size>
- <area_sizey>0.1</area_sizey>
- <area_sizez>1</area_sizez>
- <atm_distance_factor>1</atm_distance_factor>
- <atm_extinction_factor>1</atm_extinction_factor>
- <atm_turbidity>2</atm_turbidity>
- <att1>0</att1>
- <att2>1</att2>
- <backscattered_light>1</backscattered_light>
- <bias>1</bias>
- <blue>1</blue>
- <buffers>1</buffers>
- <bufflag>0</bufflag>
- <bufsize>2880</bufsize>
- <buftype>2</buftype>
- <clipend>30.002</clipend>
- <clipsta>1.000799</clipsta>
- <compressthresh>0.04999995</compressthresh>
- <dist sid="blender_dist">29.99998</dist>
- <energy sid="blender_energy">1</energy>
- <falloff_type>2</falloff_type>
- <filtertype>0</filtertype>
- <flag>0</flag>
- <gamma sid="blender_gamma">1</gamma>
- <green>1</green>
- <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
- <horizon_brightness>1</horizon_brightness>
- <mode>8192</mode>
- <ray_samp>1</ray_samp>
- <ray_samp_method>1</ray_samp_method>
- <ray_samp_type>0</ray_samp_type>
- <ray_sampy>1</ray_sampy>
- <ray_sampz>1</ray_sampz>
- <red>1</red>
- <samp>3</samp>
- <shadhalostep>0</shadhalostep>
- <shadow_b sid="blender_shadow_b">0</shadow_b>
- <shadow_g sid="blender_shadow_g">0</shadow_g>
- <shadow_r sid="blender_shadow_r">0</shadow_r>
- <sky_colorspace>0</sky_colorspace>
- <sky_exposure>1</sky_exposure>
- <skyblendfac>1</skyblendfac>
- <skyblendtype>1</skyblendtype>
- <soft>3</soft>
- <spotblend>0.15</spotblend>
- <spotsize>75</spotsize>
- <spread>1</spread>
- <sun_brightness>1</sun_brightness>
- <sun_effect_type>0</sun_effect_type>
- <sun_intensity>1</sun_intensity>
- <sun_size>1</sun_size>
- <type>0</type>
- </technique>
- </extra>
- </light>
- <light id="Lamp_002-light" name="Lamp.003">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.00111109</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <adapt_thresh>9.99987e-4</adapt_thresh>
- <area_shape>1</area_shape>
- <area_size>0.1</area_size>
- <area_sizey>0.1</area_sizey>
- <area_sizez>1</area_sizez>
- <atm_distance_factor>1</atm_distance_factor>
- <atm_extinction_factor>1</atm_extinction_factor>
- <atm_turbidity>2</atm_turbidity>
- <att1>0</att1>
- <att2>1</att2>
- <backscattered_light>1</backscattered_light>
- <bias>1</bias>
- <blue>1</blue>
- <buffers>1</buffers>
- <bufflag>0</bufflag>
- <bufsize>2880</bufsize>
- <buftype>2</buftype>
- <clipend>30.002</clipend>
- <clipsta>1.000799</clipsta>
- <compressthresh>0.04999995</compressthresh>
- <dist sid="blender_dist">29.99998</dist>
- <energy sid="blender_energy">1</energy>
- <falloff_type>2</falloff_type>
- <filtertype>0</filtertype>
- <flag>0</flag>
- <gamma sid="blender_gamma">1</gamma>
- <green>1</green>
- <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
- <horizon_brightness>1</horizon_brightness>
- <mode>8192</mode>
- <ray_samp>1</ray_samp>
- <ray_samp_method>1</ray_samp_method>
- <ray_samp_type>0</ray_samp_type>
- <ray_sampy>1</ray_sampy>
- <ray_sampz>1</ray_sampz>
- <red>1</red>
- <samp>3</samp>
- <shadhalostep>0</shadhalostep>
- <shadow_b sid="blender_shadow_b">0</shadow_b>
- <shadow_g sid="blender_shadow_g">0</shadow_g>
- <shadow_r sid="blender_shadow_r">0</shadow_r>
- <sky_colorspace>0</sky_colorspace>
- <sky_exposure>1</sky_exposure>
- <skyblendfac>1</skyblendfac>
- <skyblendtype>1</skyblendtype>
- <soft>3</soft>
- <spotblend>0.15</spotblend>
- <spotsize>75</spotsize>
- <spread>1</spread>
- <sun_brightness>1</sun_brightness>
- <sun_effect_type>0</sun_effect_type>
- <sun_intensity>1</sun_intensity>
- <sun_size>1</sun_size>
- <type>0</type>
- </technique>
- </extra>
- </light>
- <light id="Lamp_002-light" name="Lamp.004">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.00111109</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <adapt_thresh>9.99987e-4</adapt_thresh>
- <area_shape>1</area_shape>
- <area_size>0.1</area_size>
- <area_sizey>0.1</area_sizey>
- <area_sizez>1</area_sizez>
- <atm_distance_factor>1</atm_distance_factor>
- <atm_extinction_factor>1</atm_extinction_factor>
- <atm_turbidity>2</atm_turbidity>
- <att1>0</att1>
- <att2>1</att2>
- <backscattered_light>1</backscattered_light>
- <bias>1</bias>
- <blue>1</blue>
- <buffers>1</buffers>
- <bufflag>0</bufflag>
- <bufsize>2880</bufsize>
- <buftype>2</buftype>
- <clipend>30.002</clipend>
- <clipsta>1.000799</clipsta>
- <compressthresh>0.04999995</compressthresh>
- <dist sid="blender_dist">29.99998</dist>
- <energy sid="blender_energy">1</energy>
- <falloff_type>2</falloff_type>
- <filtertype>0</filtertype>
- <flag>0</flag>
- <gamma sid="blender_gamma">1</gamma>
- <green>1</green>
- <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
- <horizon_brightness>1</horizon_brightness>
- <mode>8192</mode>
- <ray_samp>1</ray_samp>
- <ray_samp_method>1</ray_samp_method>
- <ray_samp_type>0</ray_samp_type>
- <ray_sampy>1</ray_sampy>
- <ray_sampz>1</ray_sampz>
- <red>1</red>
- <samp>3</samp>
- <shadhalostep>0</shadhalostep>
- <shadow_b sid="blender_shadow_b">0</shadow_b>
- <shadow_g sid="blender_shadow_g">0</shadow_g>
- <shadow_r sid="blender_shadow_r">0</shadow_r>
- <sky_colorspace>0</sky_colorspace>
- <sky_exposure>1</sky_exposure>
- <skyblendfac>1</skyblendfac>
- <skyblendtype>1</skyblendtype>
- <soft>3</soft>
- <spotblend>0.15</spotblend>
- <spotsize>75</spotsize>
- <spread>1</spread>
- <sun_brightness>1</sun_brightness>
- <sun_effect_type>0</sun_effect_type>
- <sun_intensity>1</sun_intensity>
- <sun_size>1</sun_size>
- <type>0</type>
- </technique>
- </extra>
- </light>
- <light id="Lamp_003-light" name="Lamp.005">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.00111109</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <adapt_thresh>9.99987e-4</adapt_thresh>
- <area_shape>1</area_shape>
- <area_size>0.1</area_size>
- <area_sizey>0.1</area_sizey>
- <area_sizez>1</area_sizez>
- <atm_distance_factor>1</atm_distance_factor>
- <atm_extinction_factor>1</atm_extinction_factor>
- <atm_turbidity>2</atm_turbidity>
- <att1>0</att1>
- <att2>1</att2>
- <backscattered_light>1</backscattered_light>
- <bias>1</bias>
- <blue>1</blue>
- <buffers>1</buffers>
- <bufflag>0</bufflag>
- <bufsize>2880</bufsize>
- <buftype>2</buftype>
- <clipend>30.002</clipend>
- <clipsta>1.000799</clipsta>
- <compressthresh>0.04999995</compressthresh>
- <dist sid="blender_dist">29.99998</dist>
- <energy sid="blender_energy">1</energy>
- <falloff_type>2</falloff_type>
- <filtertype>0</filtertype>
- <flag>0</flag>
- <gamma sid="blender_gamma">1</gamma>
- <green>1</green>
- <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
- <horizon_brightness>1</horizon_brightness>
- <mode>8192</mode>
- <ray_samp>1</ray_samp>
- <ray_samp_method>1</ray_samp_method>
- <ray_samp_type>0</ray_samp_type>
- <ray_sampy>1</ray_sampy>
- <ray_sampz>1</ray_sampz>
- <red>1</red>
- <samp>3</samp>
- <shadhalostep>0</shadhalostep>
- <shadow_b sid="blender_shadow_b">0</shadow_b>
- <shadow_g sid="blender_shadow_g">0</shadow_g>
- <shadow_r sid="blender_shadow_r">0</shadow_r>
- <sky_colorspace>0</sky_colorspace>
- <sky_exposure>1</sky_exposure>
- <skyblendfac>1</skyblendfac>
- <skyblendtype>1</skyblendtype>
- <soft>3</soft>
- <spotblend>0.15</spotblend>
- <spotsize>75</spotsize>
- <spread>1</spread>
- <sun_brightness>1</sun_brightness>
- <sun_effect_type>0</sun_effect_type>
- <sun_intensity>1</sun_intensity>
- <sun_size>1</sun_size>
- <type>0</type>
- </technique>
- </extra>
- </light>
- </library_lights>
<library_images/>
<library_effects>
<effect id="SWMaterial-0_001-effect">
@@ -951,4 +541,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/ur_description/meshes/ur10/visual/wrist1.dae b/robots/ur_description/meshes/ur10/visual/wrist1.dae
index 4c454f12ff08e53441104ccc47a6f78b60df7bac..34a5c4da4fc507f096c3c8cfb4e011165806cffb 100644
--- a/robots/ur_description/meshes/ur10/visual/wrist1.dae
+++ b/robots/ur_description/meshes/ur10/visual/wrist1.dae
@@ -88,212 +88,6 @@
</extra>
</camera>
</library_cameras>
- <library_lights>
- <light id="Lamp_001-light" name="Lamp.001">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.00111109</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <adapt_thresh>9.99987e-4</adapt_thresh>
- <area_shape>1</area_shape>
- <area_size>0.1</area_size>
- <area_sizey>0.1</area_sizey>
- <area_sizez>1</area_sizez>
- <atm_distance_factor>1</atm_distance_factor>
- <atm_extinction_factor>1</atm_extinction_factor>
- <atm_turbidity>2</atm_turbidity>
- <att1>0</att1>
- <att2>1</att2>
- <backscattered_light>1</backscattered_light>
- <bias>1</bias>
- <blue>1</blue>
- <buffers>1</buffers>
- <bufflag>0</bufflag>
- <bufsize>2880</bufsize>
- <buftype>2</buftype>
- <clipend>30.002</clipend>
- <clipsta>1.000799</clipsta>
- <compressthresh>0.04999995</compressthresh>
- <dist sid="blender_dist">29.99998</dist>
- <energy sid="blender_energy">1</energy>
- <falloff_type>2</falloff_type>
- <filtertype>0</filtertype>
- <flag>0</flag>
- <gamma sid="blender_gamma">1</gamma>
- <green>1</green>
- <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
- <horizon_brightness>1</horizon_brightness>
- <mode>8192</mode>
- <ray_samp>1</ray_samp>
- <ray_samp_method>1</ray_samp_method>
- <ray_samp_type>0</ray_samp_type>
- <ray_sampy>1</ray_sampy>
- <ray_sampz>1</ray_sampz>
- <red>1</red>
- <samp>3</samp>
- <shadhalostep>0</shadhalostep>
- <shadow_b sid="blender_shadow_b">0</shadow_b>
- <shadow_g sid="blender_shadow_g">0</shadow_g>
- <shadow_r sid="blender_shadow_r">0</shadow_r>
- <sky_colorspace>0</sky_colorspace>
- <sky_exposure>1</sky_exposure>
- <skyblendfac>1</skyblendfac>
- <skyblendtype>1</skyblendtype>
- <soft>3</soft>
- <spotblend>0.15</spotblend>
- <spotsize>75</spotsize>
- <spread>1</spread>
- <sun_brightness>1</sun_brightness>
- <sun_effect_type>0</sun_effect_type>
- <sun_intensity>1</sun_intensity>
- <sun_size>1</sun_size>
- <type>0</type>
- </technique>
- </extra>
- </light>
- <light id="Lamp-light" name="Lamp.002">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.00111109</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <adapt_thresh>9.99987e-4</adapt_thresh>
- <area_shape>1</area_shape>
- <area_size>0.1</area_size>
- <area_sizey>0.1</area_sizey>
- <area_sizez>1</area_sizez>
- <atm_distance_factor>1</atm_distance_factor>
- <atm_extinction_factor>1</atm_extinction_factor>
- <atm_turbidity>2</atm_turbidity>
- <att1>0</att1>
- <att2>1</att2>
- <backscattered_light>1</backscattered_light>
- <bias>1</bias>
- <blue>1</blue>
- <buffers>1</buffers>
- <bufflag>0</bufflag>
- <bufsize>2880</bufsize>
- <buftype>2</buftype>
- <clipend>30.002</clipend>
- <clipsta>1.000799</clipsta>
- <compressthresh>0.04999995</compressthresh>
- <dist sid="blender_dist">29.99998</dist>
- <energy sid="blender_energy">1</energy>
- <falloff_type>2</falloff_type>
- <filtertype>0</filtertype>
- <flag>0</flag>
- <gamma sid="blender_gamma">1</gamma>
- <green>1</green>
- <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
- <horizon_brightness>1</horizon_brightness>
- <mode>8192</mode>
- <ray_samp>1</ray_samp>
- <ray_samp_method>1</ray_samp_method>
- <ray_samp_type>0</ray_samp_type>
- <ray_sampy>1</ray_sampy>
- <ray_sampz>1</ray_sampz>
- <red>1</red>
- <samp>3</samp>
- <shadhalostep>0</shadhalostep>
- <shadow_b sid="blender_shadow_b">0</shadow_b>
- <shadow_g sid="blender_shadow_g">0</shadow_g>
- <shadow_r sid="blender_shadow_r">0</shadow_r>
- <sky_colorspace>0</sky_colorspace>
- <sky_exposure>1</sky_exposure>
- <skyblendfac>1</skyblendfac>
- <skyblendtype>1</skyblendtype>
- <soft>3</soft>
- <spotblend>0.15</spotblend>
- <spotsize>75</spotsize>
- <spread>1</spread>
- <sun_brightness>1</sun_brightness>
- <sun_effect_type>0</sun_effect_type>
- <sun_intensity>1</sun_intensity>
- <sun_size>1</sun_size>
- <type>0</type>
- </technique>
- </extra>
- </light>
- <light id="Lamp_002-light" name="Lamp.003">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.00111109</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <adapt_thresh>9.99987e-4</adapt_thresh>
- <area_shape>1</area_shape>
- <area_size>0.1</area_size>
- <area_sizey>0.1</area_sizey>
- <area_sizez>1</area_sizez>
- <atm_distance_factor>1</atm_distance_factor>
- <atm_extinction_factor>1</atm_extinction_factor>
- <atm_turbidity>2</atm_turbidity>
- <att1>0</att1>
- <att2>1</att2>
- <backscattered_light>1</backscattered_light>
- <bias>1</bias>
- <blue>1</blue>
- <buffers>1</buffers>
- <bufflag>0</bufflag>
- <bufsize>2880</bufsize>
- <buftype>2</buftype>
- <clipend>30.002</clipend>
- <clipsta>1.000799</clipsta>
- <compressthresh>0.04999995</compressthresh>
- <dist sid="blender_dist">29.99998</dist>
- <energy sid="blender_energy">1</energy>
- <falloff_type>2</falloff_type>
- <filtertype>0</filtertype>
- <flag>0</flag>
- <gamma sid="blender_gamma">1</gamma>
- <green>1</green>
- <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
- <horizon_brightness>1</horizon_brightness>
- <mode>8192</mode>
- <ray_samp>1</ray_samp>
- <ray_samp_method>1</ray_samp_method>
- <ray_samp_type>0</ray_samp_type>
- <ray_sampy>1</ray_sampy>
- <ray_sampz>1</ray_sampz>
- <red>1</red>
- <samp>3</samp>
- <shadhalostep>0</shadhalostep>
- <shadow_b sid="blender_shadow_b">0</shadow_b>
- <shadow_g sid="blender_shadow_g">0</shadow_g>
- <shadow_r sid="blender_shadow_r">0</shadow_r>
- <sky_colorspace>0</sky_colorspace>
- <sky_exposure>1</sky_exposure>
- <skyblendfac>1</skyblendfac>
- <skyblendtype>1</skyblendtype>
- <soft>3</soft>
- <spotblend>0.15</spotblend>
- <spotsize>75</spotsize>
- <spread>1</spread>
- <sun_brightness>1</sun_brightness>
- <sun_effect_type>0</sun_effect_type>
- <sun_intensity>1</sun_intensity>
- <sun_size>1</sun_size>
- <type>0</type>
- </technique>
- </extra>
- </light>
- </library_lights>
<library_images/>
<library_effects>
<effect id="SWMaterial-0_001-effect">
@@ -560,4 +354,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/ur_description/meshes/ur10/visual/wrist2.dae b/robots/ur_description/meshes/ur10/visual/wrist2.dae
index a6e38438715189913696ac6af4c4de780e2dca3a..ae64c8795ce59c255ae04f988386f85c2c65d07f 100644
--- a/robots/ur_description/meshes/ur10/visual/wrist2.dae
+++ b/robots/ur_description/meshes/ur10/visual/wrist2.dae
@@ -31,76 +31,6 @@
</extra>
</camera>
</library_cameras>
- <library_lights>
- <light id="Lamp-light" name="Lamp">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.00111109</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <adapt_thresh>0.000999987</adapt_thresh>
- <area_shape>1</area_shape>
- <area_size>0.1</area_size>
- <area_sizey>0.1</area_sizey>
- <area_sizez>1</area_sizez>
- <atm_distance_factor>1</atm_distance_factor>
- <atm_extinction_factor>1</atm_extinction_factor>
- <atm_turbidity>2</atm_turbidity>
- <att1>0</att1>
- <att2>1</att2>
- <backscattered_light>1</backscattered_light>
- <bias>1</bias>
- <blue>1</blue>
- <buffers>1</buffers>
- <bufflag>0</bufflag>
- <bufsize>2880</bufsize>
- <buftype>2</buftype>
- <clipend>30.002</clipend>
- <clipsta>1.000799</clipsta>
- <compressthresh>0.04999995</compressthresh>
- <dist sid="blender_dist">29.99998</dist>
- <energy sid="blender_energy">1</energy>
- <falloff_type>2</falloff_type>
- <filtertype>0</filtertype>
- <flag>0</flag>
- <gamma sid="blender_gamma">1</gamma>
- <green>1</green>
- <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
- <horizon_brightness>1</horizon_brightness>
- <mode>8192</mode>
- <ray_samp>1</ray_samp>
- <ray_samp_method>1</ray_samp_method>
- <ray_samp_type>0</ray_samp_type>
- <ray_sampy>1</ray_sampy>
- <ray_sampz>1</ray_sampz>
- <red>1</red>
- <samp>3</samp>
- <shadhalostep>0</shadhalostep>
- <shadow_b sid="blender_shadow_b">0</shadow_b>
- <shadow_g sid="blender_shadow_g">0</shadow_g>
- <shadow_r sid="blender_shadow_r">0</shadow_r>
- <sky_colorspace>0</sky_colorspace>
- <sky_exposure>1</sky_exposure>
- <skyblendfac>1</skyblendfac>
- <skyblendtype>1</skyblendtype>
- <soft>3</soft>
- <spotblend>0.15</spotblend>
- <spotsize>75</spotsize>
- <spread>1</spread>
- <sun_brightness>1</sun_brightness>
- <sun_effect_type>0</sun_effect_type>
- <sun_intensity>1</sun_intensity>
- <sun_size>1</sun_size>
- <type>0</type>
- </technique>
- </extra>
- </light>
- </library_lights>
<library_images/>
<library_effects>
<effect id="SWMaterial-0_002-effect">
@@ -343,4 +273,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/ur_description/meshes/ur10/visual/wrist3.dae b/robots/ur_description/meshes/ur10/visual/wrist3.dae
index d567e95e0b050dc677960000901df9a9abc3e47e..80b2f9688886f48cac66a3bce3714418ba757b10 100644
--- a/robots/ur_description/meshes/ur10/visual/wrist3.dae
+++ b/robots/ur_description/meshes/ur10/visual/wrist3.dae
@@ -31,76 +31,6 @@
</extra>
</camera>
</library_cameras>
- <library_lights>
- <light id="Lamp-light" name="Lamp">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.00111109</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <adapt_thresh>0.000999987</adapt_thresh>
- <area_shape>1</area_shape>
- <area_size>0.1</area_size>
- <area_sizey>0.1</area_sizey>
- <area_sizez>1</area_sizez>
- <atm_distance_factor>1</atm_distance_factor>
- <atm_extinction_factor>1</atm_extinction_factor>
- <atm_turbidity>2</atm_turbidity>
- <att1>0</att1>
- <att2>1</att2>
- <backscattered_light>1</backscattered_light>
- <bias>1</bias>
- <blue>1</blue>
- <buffers>1</buffers>
- <bufflag>0</bufflag>
- <bufsize>2880</bufsize>
- <buftype>2</buftype>
- <clipend>30.002</clipend>
- <clipsta>1.000799</clipsta>
- <compressthresh>0.04999995</compressthresh>
- <dist sid="blender_dist">29.99998</dist>
- <energy sid="blender_energy">1</energy>
- <falloff_type>2</falloff_type>
- <filtertype>0</filtertype>
- <flag>0</flag>
- <gamma sid="blender_gamma">1</gamma>
- <green>1</green>
- <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
- <horizon_brightness>1</horizon_brightness>
- <mode>8192</mode>
- <ray_samp>1</ray_samp>
- <ray_samp_method>1</ray_samp_method>
- <ray_samp_type>0</ray_samp_type>
- <ray_sampy>1</ray_sampy>
- <ray_sampz>1</ray_sampz>
- <red>1</red>
- <samp>3</samp>
- <shadhalostep>0</shadhalostep>
- <shadow_b sid="blender_shadow_b">0</shadow_b>
- <shadow_g sid="blender_shadow_g">0</shadow_g>
- <shadow_r sid="blender_shadow_r">0</shadow_r>
- <sky_colorspace>0</sky_colorspace>
- <sky_exposure>1</sky_exposure>
- <skyblendfac>1</skyblendfac>
- <skyblendtype>1</skyblendtype>
- <soft>3</soft>
- <spotblend>0.15</spotblend>
- <spotsize>75</spotsize>
- <spread>1</spread>
- <sun_brightness>1</sun_brightness>
- <sun_effect_type>0</sun_effect_type>
- <sun_intensity>1</sun_intensity>
- <sun_size>1</sun_size>
- <type>0</type>
- </technique>
- </extra>
- </light>
- </library_lights>
<library_images/>
<library_effects>
<effect id="SWMaterial-2_003-effect">
@@ -315,4 +245,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/ur_description/meshes/ur3/visual/base.dae b/robots/ur_description/meshes/ur3/visual/base.dae
index f3d4a509fa6c286ec32283d9a8e2cfac566bc7f4..ef03c05afd395f5b90894ebc8a3a5aa8c8e542ad 100644
--- a/robots/ur_description/meshes/ur3/visual/base.dae
+++ b/robots/ur_description/meshes/ur3/visual/base.dae
@@ -31,76 +31,6 @@
</extra>
</camera>
</library_cameras>
- <library_lights>
- <light id="Lamp-light" name="Lamp">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.00111109</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <adapt_thresh>0.000999987</adapt_thresh>
- <area_shape>1</area_shape>
- <area_size>0.1</area_size>
- <area_sizey>0.1</area_sizey>
- <area_sizez>1</area_sizez>
- <atm_distance_factor>1</atm_distance_factor>
- <atm_extinction_factor>1</atm_extinction_factor>
- <atm_turbidity>2</atm_turbidity>
- <att1>0</att1>
- <att2>1</att2>
- <backscattered_light>1</backscattered_light>
- <bias>1</bias>
- <blue>1</blue>
- <buffers>1</buffers>
- <bufflag>0</bufflag>
- <bufsize>2880</bufsize>
- <buftype>2</buftype>
- <clipend>30.002</clipend>
- <clipsta>1.000799</clipsta>
- <compressthresh>0.04999995</compressthresh>
- <dist sid="blender_dist">29.99998</dist>
- <energy sid="blender_energy">1</energy>
- <falloff_type>2</falloff_type>
- <filtertype>0</filtertype>
- <flag>0</flag>
- <gamma sid="blender_gamma">1</gamma>
- <green>1</green>
- <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
- <horizon_brightness>1</horizon_brightness>
- <mode>8192</mode>
- <ray_samp>1</ray_samp>
- <ray_samp_method>1</ray_samp_method>
- <ray_samp_type>0</ray_samp_type>
- <ray_sampy>1</ray_sampy>
- <ray_sampz>1</ray_sampz>
- <red>1</red>
- <samp>3</samp>
- <shadhalostep>0</shadhalostep>
- <shadow_b sid="blender_shadow_b">0</shadow_b>
- <shadow_g sid="blender_shadow_g">0</shadow_g>
- <shadow_r sid="blender_shadow_r">0</shadow_r>
- <sky_colorspace>0</sky_colorspace>
- <sky_exposure>1</sky_exposure>
- <skyblendfac>1</skyblendfac>
- <skyblendtype>1</skyblendtype>
- <soft>3</soft>
- <spotblend>0.15</spotblend>
- <spotsize>75</spotsize>
- <spread>1</spread>
- <sun_brightness>1</sun_brightness>
- <sun_effect_type>0</sun_effect_type>
- <sun_intensity>1</sun_intensity>
- <sun_size>1</sun_size>
- <type>0</type>
- </technique>
- </extra>
- </light>
- </library_lights>
<library_images/>
<library_effects>
<effect id="Material_001-effect">
@@ -230,4 +160,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/ur_description/meshes/ur3/visual/forearm.dae b/robots/ur_description/meshes/ur3/visual/forearm.dae
index a7d8cdde3d8254ff409a0ba6510db2a010d16d5a..d1784d11364dc4a1d7370d92068011356be32b17 100644
--- a/robots/ur_description/meshes/ur3/visual/forearm.dae
+++ b/robots/ur_description/meshes/ur3/visual/forearm.dae
@@ -31,76 +31,6 @@
</extra>
</camera>
</library_cameras>
- <library_lights>
- <light id="Lamp-light" name="Lamp">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.00111109</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <adapt_thresh>0.000999987</adapt_thresh>
- <area_shape>1</area_shape>
- <area_size>0.1</area_size>
- <area_sizey>0.1</area_sizey>
- <area_sizez>1</area_sizez>
- <atm_distance_factor>1</atm_distance_factor>
- <atm_extinction_factor>1</atm_extinction_factor>
- <atm_turbidity>2</atm_turbidity>
- <att1>0</att1>
- <att2>1</att2>
- <backscattered_light>1</backscattered_light>
- <bias>1</bias>
- <blue>1</blue>
- <buffers>1</buffers>
- <bufflag>0</bufflag>
- <bufsize>2880</bufsize>
- <buftype>2</buftype>
- <clipend>30.002</clipend>
- <clipsta>1.000799</clipsta>
- <compressthresh>0.04999995</compressthresh>
- <dist sid="blender_dist">29.99998</dist>
- <energy sid="blender_energy">1</energy>
- <falloff_type>2</falloff_type>
- <filtertype>0</filtertype>
- <flag>0</flag>
- <gamma sid="blender_gamma">1</gamma>
- <green>1</green>
- <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
- <horizon_brightness>1</horizon_brightness>
- <mode>8192</mode>
- <ray_samp>1</ray_samp>
- <ray_samp_method>1</ray_samp_method>
- <ray_samp_type>0</ray_samp_type>
- <ray_sampy>1</ray_sampy>
- <ray_sampz>1</ray_sampz>
- <red>1</red>
- <samp>3</samp>
- <shadhalostep>0</shadhalostep>
- <shadow_b sid="blender_shadow_b">0</shadow_b>
- <shadow_g sid="blender_shadow_g">0</shadow_g>
- <shadow_r sid="blender_shadow_r">0</shadow_r>
- <sky_colorspace>0</sky_colorspace>
- <sky_exposure>1</sky_exposure>
- <skyblendfac>1</skyblendfac>
- <skyblendtype>1</skyblendtype>
- <soft>3</soft>
- <spotblend>0.15</spotblend>
- <spotsize>75</spotsize>
- <spread>1</spread>
- <sun_brightness>1</sun_brightness>
- <sun_effect_type>0</sun_effect_type>
- <sun_intensity>1</sun_intensity>
- <sun_size>1</sun_size>
- <type>0</type>
- </technique>
- </extra>
- </light>
- </library_lights>
<library_images/>
<library_effects>
<effect id="verbindung-effect">
@@ -463,4 +393,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/ur_description/meshes/ur3/visual/shoulder.dae b/robots/ur_description/meshes/ur3/visual/shoulder.dae
index 147d0ffb2b444e85501f9d3a08dfbff868884158..03dd4308df0cc550209678922e03d06aae7b8c57 100644
--- a/robots/ur_description/meshes/ur3/visual/shoulder.dae
+++ b/robots/ur_description/meshes/ur3/visual/shoulder.dae
@@ -31,76 +31,6 @@
</extra>
</camera>
</library_cameras>
- <library_lights>
- <light id="Lamp-light" name="Lamp">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.00111109</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <adapt_thresh>0.000999987</adapt_thresh>
- <area_shape>1</area_shape>
- <area_size>0.1</area_size>
- <area_sizey>0.1</area_sizey>
- <area_sizez>1</area_sizez>
- <atm_distance_factor>1</atm_distance_factor>
- <atm_extinction_factor>1</atm_extinction_factor>
- <atm_turbidity>2</atm_turbidity>
- <att1>0</att1>
- <att2>1</att2>
- <backscattered_light>1</backscattered_light>
- <bias>1</bias>
- <blue>1</blue>
- <buffers>1</buffers>
- <bufflag>0</bufflag>
- <bufsize>2880</bufsize>
- <buftype>2</buftype>
- <clipend>30.002</clipend>
- <clipsta>1.000799</clipsta>
- <compressthresh>0.04999995</compressthresh>
- <dist sid="blender_dist">29.99998</dist>
- <energy sid="blender_energy">1</energy>
- <falloff_type>2</falloff_type>
- <filtertype>0</filtertype>
- <flag>0</flag>
- <gamma sid="blender_gamma">1</gamma>
- <green>1</green>
- <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
- <horizon_brightness>1</horizon_brightness>
- <mode>8192</mode>
- <ray_samp>1</ray_samp>
- <ray_samp_method>1</ray_samp_method>
- <ray_samp_type>0</ray_samp_type>
- <ray_sampy>1</ray_sampy>
- <ray_sampz>1</ray_sampz>
- <red>1</red>
- <samp>3</samp>
- <shadhalostep>0</shadhalostep>
- <shadow_b sid="blender_shadow_b">0</shadow_b>
- <shadow_g sid="blender_shadow_g">0</shadow_g>
- <shadow_r sid="blender_shadow_r">0</shadow_r>
- <sky_colorspace>0</sky_colorspace>
- <sky_exposure>1</sky_exposure>
- <skyblendfac>1</skyblendfac>
- <skyblendtype>1</skyblendtype>
- <soft>3</soft>
- <spotblend>0.15</spotblend>
- <spotsize>75</spotsize>
- <spread>1</spread>
- <sun_brightness>1</sun_brightness>
- <sun_effect_type>0</sun_effect_type>
- <sun_intensity>1</sun_intensity>
- <sun_size>1</sun_size>
- <type>0</type>
- </technique>
- </extra>
- </light>
- </library_lights>
<library_images/>
<library_effects>
<effect id="verbindung_001-effect">
@@ -467,4 +397,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/ur_description/meshes/ur3/visual/upperarm.dae b/robots/ur_description/meshes/ur3/visual/upperarm.dae
index bb46e96264fa0da1d532c3e7a0a09782b59a613f..9c82bab6203100d0c957ba907b25d2d7cc1fc496 100644
--- a/robots/ur_description/meshes/ur3/visual/upperarm.dae
+++ b/robots/ur_description/meshes/ur3/visual/upperarm.dae
@@ -50,144 +50,6 @@
</extra>
</camera>
</library_cameras>
- <library_lights>
- <light id="Lamp-light" name="Lamp">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.00111109</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <adapt_thresh>0.000999987</adapt_thresh>
- <area_shape>1</area_shape>
- <area_size>0.1</area_size>
- <area_sizey>0.1</area_sizey>
- <area_sizez>1</area_sizez>
- <atm_distance_factor>1</atm_distance_factor>
- <atm_extinction_factor>1</atm_extinction_factor>
- <atm_turbidity>2</atm_turbidity>
- <att1>0</att1>
- <att2>1</att2>
- <backscattered_light>1</backscattered_light>
- <bias>1</bias>
- <blue>1</blue>
- <buffers>1</buffers>
- <bufflag>0</bufflag>
- <bufsize>2880</bufsize>
- <buftype>2</buftype>
- <clipend>30.002</clipend>
- <clipsta>1.000799</clipsta>
- <compressthresh>0.04999995</compressthresh>
- <dist sid="blender_dist">29.99998</dist>
- <energy sid="blender_energy">1</energy>
- <falloff_type>2</falloff_type>
- <filtertype>0</filtertype>
- <flag>0</flag>
- <gamma sid="blender_gamma">1</gamma>
- <green>1</green>
- <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
- <horizon_brightness>1</horizon_brightness>
- <mode>8192</mode>
- <ray_samp>1</ray_samp>
- <ray_samp_method>1</ray_samp_method>
- <ray_samp_type>0</ray_samp_type>
- <ray_sampy>1</ray_sampy>
- <ray_sampz>1</ray_sampz>
- <red>1</red>
- <samp>3</samp>
- <shadhalostep>0</shadhalostep>
- <shadow_b sid="blender_shadow_b">0</shadow_b>
- <shadow_g sid="blender_shadow_g">0</shadow_g>
- <shadow_r sid="blender_shadow_r">0</shadow_r>
- <sky_colorspace>0</sky_colorspace>
- <sky_exposure>1</sky_exposure>
- <skyblendfac>1</skyblendfac>
- <skyblendtype>1</skyblendtype>
- <soft>3</soft>
- <spotblend>0.15</spotblend>
- <spotsize>75</spotsize>
- <spread>1</spread>
- <sun_brightness>1</sun_brightness>
- <sun_effect_type>0</sun_effect_type>
- <sun_intensity>1</sun_intensity>
- <sun_size>1</sun_size>
- <type>0</type>
- </technique>
- </extra>
- </light>
- <light id="Lamp_001-light" name="Lamp.001">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.00111109</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <adapt_thresh>9.99987e-4</adapt_thresh>
- <area_shape>1</area_shape>
- <area_size>0.1</area_size>
- <area_sizey>0.1</area_sizey>
- <area_sizez>1</area_sizez>
- <atm_distance_factor>1</atm_distance_factor>
- <atm_extinction_factor>1</atm_extinction_factor>
- <atm_turbidity>2</atm_turbidity>
- <att1>0</att1>
- <att2>1</att2>
- <backscattered_light>1</backscattered_light>
- <bias>1</bias>
- <blue>1</blue>
- <buffers>1</buffers>
- <bufflag>0</bufflag>
- <bufsize>2880</bufsize>
- <buftype>2</buftype>
- <clipend>30.002</clipend>
- <clipsta>1.000799</clipsta>
- <compressthresh>0.04999995</compressthresh>
- <dist sid="blender_dist">29.99998</dist>
- <energy sid="blender_energy">1</energy>
- <falloff_type>2</falloff_type>
- <filtertype>0</filtertype>
- <flag>0</flag>
- <gamma sid="blender_gamma">1</gamma>
- <green>1</green>
- <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
- <horizon_brightness>1</horizon_brightness>
- <mode>8192</mode>
- <ray_samp>1</ray_samp>
- <ray_samp_method>1</ray_samp_method>
- <ray_samp_type>0</ray_samp_type>
- <ray_sampy>1</ray_sampy>
- <ray_sampz>1</ray_sampz>
- <red>1</red>
- <samp>3</samp>
- <shadhalostep>0</shadhalostep>
- <shadow_b sid="blender_shadow_b">0</shadow_b>
- <shadow_g sid="blender_shadow_g">0</shadow_g>
- <shadow_r sid="blender_shadow_r">0</shadow_r>
- <sky_colorspace>0</sky_colorspace>
- <sky_exposure>1</sky_exposure>
- <skyblendfac>1</skyblendfac>
- <skyblendtype>1</skyblendtype>
- <soft>3</soft>
- <spotblend>0.15</spotblend>
- <spotsize>75</spotsize>
- <spread>1</spread>
- <sun_brightness>1</sun_brightness>
- <sun_effect_type>0</sun_effect_type>
- <sun_intensity>1</sun_intensity>
- <sun_size>1</sun_size>
- <type>0</type>
- </technique>
- </extra>
- </light>
- </library_lights>
<library_images/>
<library_effects>
<effect id="blau-effect">
@@ -772,4 +634,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/ur_description/meshes/ur3/visual/wrist1.dae b/robots/ur_description/meshes/ur3/visual/wrist1.dae
index f607c2246f1759ea3e61d34157e6e33d6308e72c..9959f3afd1236f1ccd469a15c944927c555308eb 100644
--- a/robots/ur_description/meshes/ur3/visual/wrist1.dae
+++ b/robots/ur_description/meshes/ur3/visual/wrist1.dae
@@ -31,76 +31,6 @@
</extra>
</camera>
</library_cameras>
- <library_lights>
- <light id="Lamp-light" name="Lamp">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.00111109</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <adapt_thresh>0.000999987</adapt_thresh>
- <area_shape>1</area_shape>
- <area_size>0.1</area_size>
- <area_sizey>0.1</area_sizey>
- <area_sizez>1</area_sizez>
- <atm_distance_factor>1</atm_distance_factor>
- <atm_extinction_factor>1</atm_extinction_factor>
- <atm_turbidity>2</atm_turbidity>
- <att1>0</att1>
- <att2>1</att2>
- <backscattered_light>1</backscattered_light>
- <bias>1</bias>
- <blue>1</blue>
- <buffers>1</buffers>
- <bufflag>0</bufflag>
- <bufsize>2880</bufsize>
- <buftype>2</buftype>
- <clipend>30.002</clipend>
- <clipsta>1.000799</clipsta>
- <compressthresh>0.04999995</compressthresh>
- <dist sid="blender_dist">29.99998</dist>
- <energy sid="blender_energy">1</energy>
- <falloff_type>2</falloff_type>
- <filtertype>0</filtertype>
- <flag>0</flag>
- <gamma sid="blender_gamma">1</gamma>
- <green>1</green>
- <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
- <horizon_brightness>1</horizon_brightness>
- <mode>8192</mode>
- <ray_samp>1</ray_samp>
- <ray_samp_method>1</ray_samp_method>
- <ray_samp_type>0</ray_samp_type>
- <ray_sampy>1</ray_sampy>
- <ray_sampz>1</ray_sampz>
- <red>1</red>
- <samp>3</samp>
- <shadhalostep>0</shadhalostep>
- <shadow_b sid="blender_shadow_b">0</shadow_b>
- <shadow_g sid="blender_shadow_g">0</shadow_g>
- <shadow_r sid="blender_shadow_r">0</shadow_r>
- <sky_colorspace>0</sky_colorspace>
- <sky_exposure>1</sky_exposure>
- <skyblendfac>1</skyblendfac>
- <skyblendtype>1</skyblendtype>
- <soft>3</soft>
- <spotblend>0.15</spotblend>
- <spotsize>75</spotsize>
- <spread>1</spread>
- <sun_brightness>1</sun_brightness>
- <sun_effect_type>0</sun_effect_type>
- <sun_intensity>1</sun_intensity>
- <sun_size>1</sun_size>
- <type>0</type>
- </technique>
- </extra>
- </light>
- </library_lights>
<library_images/>
<library_effects>
<effect id="verbindung-effect">
@@ -308,4 +238,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/ur_description/meshes/ur3/visual/wrist2.dae b/robots/ur_description/meshes/ur3/visual/wrist2.dae
index b789be2878dcaacfc39f1ca0be1033de21b15dad..e9f0906160215ddd9e448b913c2ec57c3d5cf07a 100644
--- a/robots/ur_description/meshes/ur3/visual/wrist2.dae
+++ b/robots/ur_description/meshes/ur3/visual/wrist2.dae
@@ -31,76 +31,6 @@
</extra>
</camera>
</library_cameras>
- <library_lights>
- <light id="Lamp-light" name="Lamp">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.00111109</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <adapt_thresh>0.000999987</adapt_thresh>
- <area_shape>1</area_shape>
- <area_size>0.1</area_size>
- <area_sizey>0.1</area_sizey>
- <area_sizez>1</area_sizez>
- <atm_distance_factor>1</atm_distance_factor>
- <atm_extinction_factor>1</atm_extinction_factor>
- <atm_turbidity>2</atm_turbidity>
- <att1>0</att1>
- <att2>1</att2>
- <backscattered_light>1</backscattered_light>
- <bias>1</bias>
- <blue>1</blue>
- <buffers>1</buffers>
- <bufflag>0</bufflag>
- <bufsize>2880</bufsize>
- <buftype>2</buftype>
- <clipend>30.002</clipend>
- <clipsta>1.000799</clipsta>
- <compressthresh>0.04999995</compressthresh>
- <dist sid="blender_dist">29.99998</dist>
- <energy sid="blender_energy">1</energy>
- <falloff_type>2</falloff_type>
- <filtertype>0</filtertype>
- <flag>0</flag>
- <gamma sid="blender_gamma">1</gamma>
- <green>1</green>
- <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
- <horizon_brightness>1</horizon_brightness>
- <mode>8192</mode>
- <ray_samp>1</ray_samp>
- <ray_samp_method>1</ray_samp_method>
- <ray_samp_type>0</ray_samp_type>
- <ray_sampy>1</ray_sampy>
- <ray_sampz>1</ray_sampz>
- <red>1</red>
- <samp>3</samp>
- <shadhalostep>0</shadhalostep>
- <shadow_b sid="blender_shadow_b">0</shadow_b>
- <shadow_g sid="blender_shadow_g">0</shadow_g>
- <shadow_r sid="blender_shadow_r">0</shadow_r>
- <sky_colorspace>0</sky_colorspace>
- <sky_exposure>1</sky_exposure>
- <skyblendfac>1</skyblendfac>
- <skyblendtype>1</skyblendtype>
- <soft>3</soft>
- <spotblend>0.15</spotblend>
- <spotsize>75</spotsize>
- <spread>1</spread>
- <sun_brightness>1</sun_brightness>
- <sun_effect_type>0</sun_effect_type>
- <sun_intensity>1</sun_intensity>
- <sun_size>1</sun_size>
- <type>0</type>
- </technique>
- </extra>
- </light>
- </library_lights>
<library_images/>
<library_effects>
<effect id="blau-effect">
@@ -308,4 +238,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/ur_description/meshes/ur5/visual/base.dae b/robots/ur_description/meshes/ur5/visual/base.dae
index 81610ed617fdc177dacc7eb00341071b14e01cae..cd49ea1f9e65cb901385d7dd7e84e4436943b3a7 100644
--- a/robots/ur_description/meshes/ur5/visual/base.dae
+++ b/robots/ur_description/meshes/ur5/visual/base.dae
@@ -31,76 +31,6 @@
</extra>
</camera>
</library_cameras>
- <library_lights>
- <light id="Lamp-light" name="Lamp">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.00111109</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <adapt_thresh>0.000999987</adapt_thresh>
- <area_shape>1</area_shape>
- <area_size>0.1</area_size>
- <area_sizey>0.1</area_sizey>
- <area_sizez>1</area_sizez>
- <atm_distance_factor>1</atm_distance_factor>
- <atm_extinction_factor>1</atm_extinction_factor>
- <atm_turbidity>2</atm_turbidity>
- <att1>0</att1>
- <att2>1</att2>
- <backscattered_light>1</backscattered_light>
- <bias>1</bias>
- <blue>1</blue>
- <buffers>1</buffers>
- <bufflag>0</bufflag>
- <bufsize>2880</bufsize>
- <buftype>2</buftype>
- <clipend>30.002</clipend>
- <clipsta>1.000799</clipsta>
- <compressthresh>0.04999995</compressthresh>
- <dist sid="blender_dist">29.99998</dist>
- <energy sid="blender_energy">1</energy>
- <falloff_type>2</falloff_type>
- <filtertype>0</filtertype>
- <flag>0</flag>
- <gamma sid="blender_gamma">1</gamma>
- <green>1</green>
- <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
- <horizon_brightness>1</horizon_brightness>
- <mode>8192</mode>
- <ray_samp>1</ray_samp>
- <ray_samp_method>1</ray_samp_method>
- <ray_samp_type>0</ray_samp_type>
- <ray_sampy>1</ray_sampy>
- <ray_sampz>1</ray_sampz>
- <red>1</red>
- <samp>3</samp>
- <shadhalostep>0</shadhalostep>
- <shadow_b sid="blender_shadow_b">0</shadow_b>
- <shadow_g sid="blender_shadow_g">0</shadow_g>
- <shadow_r sid="blender_shadow_r">0</shadow_r>
- <sky_colorspace>0</sky_colorspace>
- <sky_exposure>1</sky_exposure>
- <skyblendfac>1</skyblendfac>
- <skyblendtype>1</skyblendtype>
- <soft>3</soft>
- <spotblend>0.15</spotblend>
- <spotsize>75</spotsize>
- <spread>1</spread>
- <sun_brightness>1</sun_brightness>
- <sun_effect_type>0</sun_effect_type>
- <sun_intensity>1</sun_intensity>
- <sun_size>1</sun_size>
- <type>0</type>
- </technique>
- </extra>
- </light>
- </library_lights>
<library_images/>
<library_effects>
<effect id="Rohr-effect">
@@ -230,4 +160,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/ur_description/meshes/ur5/visual/forearm.dae b/robots/ur_description/meshes/ur5/visual/forearm.dae
index 6c3bb2c6af7a6b32e442ab9e3bfb7496b7265472..46f44371cb254b4ba57e1a194ce991d3849ca3aa 100644
--- a/robots/ur_description/meshes/ur5/visual/forearm.dae
+++ b/robots/ur_description/meshes/ur5/visual/forearm.dae
@@ -31,76 +31,6 @@
</extra>
</camera>
</library_cameras>
- <library_lights>
- <light id="Lamp-light" name="Lamp">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.00111109</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <adapt_thresh>0.000999987</adapt_thresh>
- <area_shape>1</area_shape>
- <area_size>0.1</area_size>
- <area_sizey>0.1</area_sizey>
- <area_sizez>1</area_sizez>
- <atm_distance_factor>1</atm_distance_factor>
- <atm_extinction_factor>1</atm_extinction_factor>
- <atm_turbidity>2</atm_turbidity>
- <att1>0</att1>
- <att2>1</att2>
- <backscattered_light>1</backscattered_light>
- <bias>1</bias>
- <blue>1</blue>
- <buffers>1</buffers>
- <bufflag>0</bufflag>
- <bufsize>2880</bufsize>
- <buftype>2</buftype>
- <clipend>30.002</clipend>
- <clipsta>1.000799</clipsta>
- <compressthresh>0.04999995</compressthresh>
- <dist sid="blender_dist">29.99998</dist>
- <energy sid="blender_energy">1</energy>
- <falloff_type>2</falloff_type>
- <filtertype>0</filtertype>
- <flag>0</flag>
- <gamma sid="blender_gamma">1</gamma>
- <green>1</green>
- <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
- <horizon_brightness>1</horizon_brightness>
- <mode>8192</mode>
- <ray_samp>1</ray_samp>
- <ray_samp_method>1</ray_samp_method>
- <ray_samp_type>0</ray_samp_type>
- <ray_sampy>1</ray_sampy>
- <ray_sampz>1</ray_sampz>
- <red>1</red>
- <samp>3</samp>
- <shadhalostep>0</shadhalostep>
- <shadow_b sid="blender_shadow_b">0</shadow_b>
- <shadow_g sid="blender_shadow_g">0</shadow_g>
- <shadow_r sid="blender_shadow_r">0</shadow_r>
- <sky_colorspace>0</sky_colorspace>
- <sky_exposure>1</sky_exposure>
- <skyblendfac>1</skyblendfac>
- <skyblendtype>1</skyblendtype>
- <soft>3</soft>
- <spotblend>0.15</spotblend>
- <spotsize>75</spotsize>
- <spread>1</spread>
- <sun_brightness>1</sun_brightness>
- <sun_effect_type>0</sun_effect_type>
- <sun_intensity>1</sun_intensity>
- <sun_size>1</sun_size>
- <type>0</type>
- </technique>
- </extra>
- </light>
- </library_lights>
<library_images/>
<library_effects>
<effect id="blau_005-effect">
diff --git a/robots/ur_description/meshes/ur5/visual/shoulder.dae b/robots/ur_description/meshes/ur5/visual/shoulder.dae
index 0364c829c559be989bac3575979bdfbd1c890867..bb3723b1aa65fdcf19266f4ac0d5b434a2c33eda 100644
--- a/robots/ur_description/meshes/ur5/visual/shoulder.dae
+++ b/robots/ur_description/meshes/ur5/visual/shoulder.dae
@@ -31,76 +31,6 @@
</extra>
</camera>
</library_cameras>
- <library_lights>
- <light id="Lamp-light" name="Lamp">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.00111109</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <adapt_thresh>0.000999987</adapt_thresh>
- <area_shape>1</area_shape>
- <area_size>0.1</area_size>
- <area_sizey>0.1</area_sizey>
- <area_sizez>1</area_sizez>
- <atm_distance_factor>1</atm_distance_factor>
- <atm_extinction_factor>1</atm_extinction_factor>
- <atm_turbidity>2</atm_turbidity>
- <att1>0</att1>
- <att2>1</att2>
- <backscattered_light>1</backscattered_light>
- <bias>1</bias>
- <blue>1</blue>
- <buffers>1</buffers>
- <bufflag>0</bufflag>
- <bufsize>2880</bufsize>
- <buftype>2</buftype>
- <clipend>30.002</clipend>
- <clipsta>1.000799</clipsta>
- <compressthresh>0.04999995</compressthresh>
- <dist sid="blender_dist">29.99998</dist>
- <energy sid="blender_energy">1</energy>
- <falloff_type>2</falloff_type>
- <filtertype>0</filtertype>
- <flag>0</flag>
- <gamma sid="blender_gamma">1</gamma>
- <green>1</green>
- <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
- <horizon_brightness>1</horizon_brightness>
- <mode>8192</mode>
- <ray_samp>1</ray_samp>
- <ray_samp_method>1</ray_samp_method>
- <ray_samp_type>0</ray_samp_type>
- <ray_sampy>1</ray_sampy>
- <ray_sampz>1</ray_sampz>
- <red>1</red>
- <samp>3</samp>
- <shadhalostep>0</shadhalostep>
- <shadow_b sid="blender_shadow_b">0</shadow_b>
- <shadow_g sid="blender_shadow_g">0</shadow_g>
- <shadow_r sid="blender_shadow_r">0</shadow_r>
- <sky_colorspace>0</sky_colorspace>
- <sky_exposure>1</sky_exposure>
- <skyblendfac>1</skyblendfac>
- <skyblendtype>1</skyblendtype>
- <soft>3</soft>
- <spotblend>0.15</spotblend>
- <spotsize>75</spotsize>
- <spread>1</spread>
- <sun_brightness>1</sun_brightness>
- <sun_effect_type>0</sun_effect_type>
- <sun_intensity>1</sun_intensity>
- <sun_size>1</sun_size>
- <type>0</type>
- </technique>
- </extra>
- </light>
- </library_lights>
<library_images/>
<library_effects>
<effect id="verbindung-effect">
@@ -301,4 +231,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/ur_description/meshes/ur5/visual/upperarm.dae b/robots/ur_description/meshes/ur5/visual/upperarm.dae
index 867152a356038791e75a19cf1f0b089e7a070d8e..736a13c4b673b6bd5cf9bc6fa41f9256f956e9f8 100644
--- a/robots/ur_description/meshes/ur5/visual/upperarm.dae
+++ b/robots/ur_description/meshes/ur5/visual/upperarm.dae
@@ -31,76 +31,6 @@
</extra>
</camera>
</library_cameras>
- <library_lights>
- <light id="Lamp-light" name="Lamp">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.00111109</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <adapt_thresh>0.000999987</adapt_thresh>
- <area_shape>1</area_shape>
- <area_size>0.1</area_size>
- <area_sizey>0.1</area_sizey>
- <area_sizez>1</area_sizez>
- <atm_distance_factor>1</atm_distance_factor>
- <atm_extinction_factor>1</atm_extinction_factor>
- <atm_turbidity>2</atm_turbidity>
- <att1>0</att1>
- <att2>1</att2>
- <backscattered_light>1</backscattered_light>
- <bias>1</bias>
- <blue>1</blue>
- <buffers>1</buffers>
- <bufflag>0</bufflag>
- <bufsize>2880</bufsize>
- <buftype>2</buftype>
- <clipend>30.002</clipend>
- <clipsta>1.000799</clipsta>
- <compressthresh>0.04999995</compressthresh>
- <dist sid="blender_dist">29.99998</dist>
- <energy sid="blender_energy">1</energy>
- <falloff_type>2</falloff_type>
- <filtertype>0</filtertype>
- <flag>0</flag>
- <gamma sid="blender_gamma">1</gamma>
- <green>1</green>
- <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
- <horizon_brightness>1</horizon_brightness>
- <mode>8192</mode>
- <ray_samp>1</ray_samp>
- <ray_samp_method>1</ray_samp_method>
- <ray_samp_type>0</ray_samp_type>
- <ray_sampy>1</ray_sampy>
- <ray_sampz>1</ray_sampz>
- <red>1</red>
- <samp>3</samp>
- <shadhalostep>0</shadhalostep>
- <shadow_b sid="blender_shadow_b">0</shadow_b>
- <shadow_g sid="blender_shadow_g">0</shadow_g>
- <shadow_r sid="blender_shadow_r">0</shadow_r>
- <sky_colorspace>0</sky_colorspace>
- <sky_exposure>1</sky_exposure>
- <skyblendfac>1</skyblendfac>
- <skyblendtype>1</skyblendtype>
- <soft>3</soft>
- <spotblend>0.15</spotblend>
- <spotsize>75</spotsize>
- <spread>1</spread>
- <sun_brightness>1</sun_brightness>
- <sun_effect_type>0</sun_effect_type>
- <sun_intensity>1</sun_intensity>
- <sun_size>1</sun_size>
- <type>0</type>
- </technique>
- </extra>
- </light>
- </library_lights>
<library_images/>
<library_effects>
<effect id="verbindung-effect">
diff --git a/robots/ur_description/meshes/ur5/visual/wrist1.dae b/robots/ur_description/meshes/ur5/visual/wrist1.dae
index 547920bc68ad9a625ad772f770d542f44a946f7e..243affefe86983773f112526bfa8b215f5375194 100644
--- a/robots/ur_description/meshes/ur5/visual/wrist1.dae
+++ b/robots/ur_description/meshes/ur5/visual/wrist1.dae
@@ -31,76 +31,6 @@
</extra>
</camera>
</library_cameras>
- <library_lights>
- <light id="Lamp-light" name="Lamp">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.00111109</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <adapt_thresh>0.000999987</adapt_thresh>
- <area_shape>1</area_shape>
- <area_size>0.1</area_size>
- <area_sizey>0.1</area_sizey>
- <area_sizez>1</area_sizez>
- <atm_distance_factor>1</atm_distance_factor>
- <atm_extinction_factor>1</atm_extinction_factor>
- <atm_turbidity>2</atm_turbidity>
- <att1>0</att1>
- <att2>1</att2>
- <backscattered_light>1</backscattered_light>
- <bias>1</bias>
- <blue>1</blue>
- <buffers>1</buffers>
- <bufflag>0</bufflag>
- <bufsize>2880</bufsize>
- <buftype>2</buftype>
- <clipend>30.002</clipend>
- <clipsta>1.000799</clipsta>
- <compressthresh>0.04999995</compressthresh>
- <dist sid="blender_dist">29.99998</dist>
- <energy sid="blender_energy">1</energy>
- <falloff_type>2</falloff_type>
- <filtertype>0</filtertype>
- <flag>0</flag>
- <gamma sid="blender_gamma">1</gamma>
- <green>1</green>
- <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
- <horizon_brightness>1</horizon_brightness>
- <mode>8192</mode>
- <ray_samp>1</ray_samp>
- <ray_samp_method>1</ray_samp_method>
- <ray_samp_type>0</ray_samp_type>
- <ray_sampy>1</ray_sampy>
- <ray_sampz>1</ray_sampz>
- <red>1</red>
- <samp>3</samp>
- <shadhalostep>0</shadhalostep>
- <shadow_b sid="blender_shadow_b">0</shadow_b>
- <shadow_g sid="blender_shadow_g">0</shadow_g>
- <shadow_r sid="blender_shadow_r">0</shadow_r>
- <sky_colorspace>0</sky_colorspace>
- <sky_exposure>1</sky_exposure>
- <skyblendfac>1</skyblendfac>
- <skyblendtype>1</skyblendtype>
- <soft>3</soft>
- <spotblend>0.15</spotblend>
- <spotsize>75</spotsize>
- <spread>1</spread>
- <sun_brightness>1</sun_brightness>
- <sun_effect_type>0</sun_effect_type>
- <sun_intensity>1</sun_intensity>
- <sun_size>1</sun_size>
- <type>0</type>
- </technique>
- </extra>
- </light>
- </library_lights>
<library_images/>
<library_effects>
<effect id="Scheibe_001-effect">
@@ -301,4 +231,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/ur_description/meshes/ur5/visual/wrist2.dae b/robots/ur_description/meshes/ur5/visual/wrist2.dae
index 6a7719d1d0159b4729af28f01eb9b255bd46e215..07c74a514649811c4a6f6ee1bf760e989f26abd9 100644
--- a/robots/ur_description/meshes/ur5/visual/wrist2.dae
+++ b/robots/ur_description/meshes/ur5/visual/wrist2.dae
@@ -31,76 +31,6 @@
</extra>
</camera>
</library_cameras>
- <library_lights>
- <light id="Lamp-light" name="Lamp">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.00111109</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <adapt_thresh>0.000999987</adapt_thresh>
- <area_shape>1</area_shape>
- <area_size>0.1</area_size>
- <area_sizey>0.1</area_sizey>
- <area_sizez>1</area_sizez>
- <atm_distance_factor>1</atm_distance_factor>
- <atm_extinction_factor>1</atm_extinction_factor>
- <atm_turbidity>2</atm_turbidity>
- <att1>0</att1>
- <att2>1</att2>
- <backscattered_light>1</backscattered_light>
- <bias>1</bias>
- <blue>1</blue>
- <buffers>1</buffers>
- <bufflag>0</bufflag>
- <bufsize>2880</bufsize>
- <buftype>2</buftype>
- <clipend>30.002</clipend>
- <clipsta>1.000799</clipsta>
- <compressthresh>0.04999995</compressthresh>
- <dist sid="blender_dist">29.99998</dist>
- <energy sid="blender_energy">1</energy>
- <falloff_type>2</falloff_type>
- <filtertype>0</filtertype>
- <flag>0</flag>
- <gamma sid="blender_gamma">1</gamma>
- <green>1</green>
- <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
- <horizon_brightness>1</horizon_brightness>
- <mode>8192</mode>
- <ray_samp>1</ray_samp>
- <ray_samp_method>1</ray_samp_method>
- <ray_samp_type>0</ray_samp_type>
- <ray_sampy>1</ray_sampy>
- <ray_sampz>1</ray_sampz>
- <red>1</red>
- <samp>3</samp>
- <shadhalostep>0</shadhalostep>
- <shadow_b sid="blender_shadow_b">0</shadow_b>
- <shadow_g sid="blender_shadow_g">0</shadow_g>
- <shadow_r sid="blender_shadow_r">0</shadow_r>
- <sky_colorspace>0</sky_colorspace>
- <sky_exposure>1</sky_exposure>
- <skyblendfac>1</skyblendfac>
- <skyblendtype>1</skyblendtype>
- <soft>3</soft>
- <spotblend>0.15</spotblend>
- <spotsize>75</spotsize>
- <spread>1</spread>
- <sun_brightness>1</sun_brightness>
- <sun_effect_type>0</sun_effect_type>
- <sun_intensity>1</sun_intensity>
- <sun_size>1</sun_size>
- <type>0</type>
- </technique>
- </extra>
- </light>
- </library_lights>
<library_images/>
<library_effects>
<effect id="Scheibe_002-effect">
@@ -301,4 +231,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/ur_description/meshes/ur5/visual/wrist3.dae b/robots/ur_description/meshes/ur5/visual/wrist3.dae
index 8c6b2b677726aebd925211ef1e4c9593ff2e2ed3..1049d138704c4b524b13f0b65db86fb848129a95 100644
--- a/robots/ur_description/meshes/ur5/visual/wrist3.dae
+++ b/robots/ur_description/meshes/ur5/visual/wrist3.dae
@@ -31,76 +31,6 @@
</extra>
</camera>
</library_cameras>
- <library_lights>
- <light id="Lamp-light" name="Lamp">
- <technique_common>
- <point>
- <color sid="color">1 1 1</color>
- <constant_attenuation>1</constant_attenuation>
- <linear_attenuation>0</linear_attenuation>
- <quadratic_attenuation>0.00111109</quadratic_attenuation>
- </point>
- </technique_common>
- <extra>
- <technique profile="blender">
- <adapt_thresh>0.000999987</adapt_thresh>
- <area_shape>1</area_shape>
- <area_size>0.1</area_size>
- <area_sizey>0.1</area_sizey>
- <area_sizez>1</area_sizez>
- <atm_distance_factor>1</atm_distance_factor>
- <atm_extinction_factor>1</atm_extinction_factor>
- <atm_turbidity>2</atm_turbidity>
- <att1>0</att1>
- <att2>1</att2>
- <backscattered_light>1</backscattered_light>
- <bias>1</bias>
- <blue>1</blue>
- <buffers>1</buffers>
- <bufflag>0</bufflag>
- <bufsize>2880</bufsize>
- <buftype>2</buftype>
- <clipend>30.002</clipend>
- <clipsta>1.000799</clipsta>
- <compressthresh>0.04999995</compressthresh>
- <dist sid="blender_dist">29.99998</dist>
- <energy sid="blender_energy">1</energy>
- <falloff_type>2</falloff_type>
- <filtertype>0</filtertype>
- <flag>0</flag>
- <gamma sid="blender_gamma">1</gamma>
- <green>1</green>
- <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
- <horizon_brightness>1</horizon_brightness>
- <mode>8192</mode>
- <ray_samp>1</ray_samp>
- <ray_samp_method>1</ray_samp_method>
- <ray_samp_type>0</ray_samp_type>
- <ray_sampy>1</ray_sampy>
- <ray_sampz>1</ray_sampz>
- <red>1</red>
- <samp>3</samp>
- <shadhalostep>0</shadhalostep>
- <shadow_b sid="blender_shadow_b">0</shadow_b>
- <shadow_g sid="blender_shadow_g">0</shadow_g>
- <shadow_r sid="blender_shadow_r">0</shadow_r>
- <sky_colorspace>0</sky_colorspace>
- <sky_exposure>1</sky_exposure>
- <skyblendfac>1</skyblendfac>
- <skyblendtype>1</skyblendtype>
- <soft>3</soft>
- <spotblend>0.15</spotblend>
- <spotsize>75</spotsize>
- <spread>1</spread>
- <sun_brightness>1</sun_brightness>
- <sun_effect_type>0</sun_effect_type>
- <sun_intensity>1</sun_intensity>
- <sun_size>1</sun_size>
- <type>0</type>
- </technique>
- </extra>
- </light>
- </library_lights>
<library_images/>
<library_effects>
<effect id="Rohr_007_001-effect">
@@ -230,4 +160,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>