diff --git a/robots/ur_description/meshes/ur10/visual/forearm.dae b/robots/ur_description/meshes/ur10/visual/forearm.dae
index df78fe03d249decd65eb0a9a2827f55ca19f704d..1f27336840b66dc8cec056c8f5b4ef9cc01bbb36 100644
--- a/robots/ur_description/meshes/ur10/visual/forearm.dae
+++ b/robots/ur_description/meshes/ur10/visual/forearm.dae
@@ -369,18 +369,10 @@
<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="Lamp" name="Lamp" type="NODE">
- <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
- <instance_light url="#Lamp-light"/>
- </node>
<node id="Camera_001" name="Camera_001" type="NODE">
<matrix sid="transform">0.6859207 -0.3240134 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 -4.01133e-9 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
<instance_camera url="#Camera_001-camera"/>
</node>
- <node id="Lamp_001" name="Lamp_001" type="NODE">
- <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
- <instance_light url="#Lamp_001-light"/>
- </node>
<node id="node-shape0-name" name="node-shape0-name" type="NODE">
<matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
<instance_geometry url="#shape0-mesh" name="node-shape0-name">
diff --git a/robots/ur_description/meshes/ur10/visual/shoulder.dae b/robots/ur_description/meshes/ur10/visual/shoulder.dae
index 82116f936f80b3962f9f1db3d3cc8a65795ac340..33c839f2a378c429aebe3d500f2bd9654dfde937 100644
--- a/robots/ur_description/meshes/ur10/visual/shoulder.dae
+++ b/robots/ur_description/meshes/ur10/visual/shoulder.dae
@@ -251,18 +251,10 @@
<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="Lamp" name="Lamp" type="NODE">
- <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
- <instance_light url="#Lamp-light"/>
- </node>
<node id="Camera_001" name="Camera_001" type="NODE">
<matrix sid="transform">0.6859207 -0.3240134 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 -4.01133e-9 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
<instance_camera url="#Camera_001-camera"/>
</node>
- <node id="Lamp_001" name="Lamp_001" type="NODE">
- <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
- <instance_light url="#Lamp_001-light"/>
- </node>
<node id="node-shape0-name" name="node-shape0-name" type="NODE">
<matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
<instance_geometry url="#shape0-mesh" name="node-shape0-name">
diff --git a/robots/ur_description/meshes/ur10/visual/upperarm.dae b/robots/ur_description/meshes/ur10/visual/upperarm.dae
index fa832af879de6bf4ebc58ced3df2f8ab9bb7cb5c..eacd9cf2873621b2077f30bfc112a4a82f894cfe 100644
--- a/robots/ur_description/meshes/ur10/visual/upperarm.dae
+++ b/robots/ur_description/meshes/ur10/visual/upperarm.dae
@@ -432,18 +432,10 @@
<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="Lamp" name="Lamp" type="NODE">
- <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
- <instance_light url="#Lamp-light"/>
- </node>
<node id="Camera_001" name="Camera_001" type="NODE">
<matrix sid="transform">0.6859207 -0.3240134 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 -4.01133e-9 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
<instance_camera url="#Camera_001-camera"/>
</node>
- <node id="Lamp_001" name="Lamp_001" type="NODE">
- <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
- <instance_light url="#Lamp_001-light"/>
- </node>
<node id="Camera_002" name="Camera_002" type="NODE">
<matrix sid="transform">0.6859207 -0.3240134 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 -4.01133e-9 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
<instance_camera url="#Camera_002-camera"/>
@@ -452,34 +444,18 @@
<matrix sid="transform">0.6859208 -0.3240134 0.6515582 7.481132 0.7276763 0.3054209 -0.6141704 -6.50764 -3.28323e-8 0.8953955 0.4452714 5.343665 0 0 0 1</matrix>
<instance_camera url="#Camera_001-camera"/>
</node>
- <node id="Lamp_001" name="Lamp_001" type="NODE">
- <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.0551891 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
- <instance_light url="#Lamp_001-light"/>
- </node>
<node id="Camera_002" name="Camera_002" type="NODE">
<matrix sid="transform">0.6859208 -0.3240134 0.6515582 7.481132 0.7276763 0.3054209 -0.6141704 -6.50764 -3.28323e-8 0.8953955 0.4452714 5.343665 0 0 0 1</matrix>
<instance_camera url="#Camera_002-camera"/>
</node>
- <node id="Lamp_002" name="Lamp_002" type="NODE">
- <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.0551891 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
- <instance_light url="#Lamp_002-light"/>
- </node>
<node id="Camera_003" name="Camera_003" type="NODE">
<matrix sid="transform">0.6859208 -0.3240134 0.6515582 7.481132 0.7276763 0.3054209 -0.6141704 -6.50764 -3.28323e-8 0.8953955 0.4452714 5.343665 0 0 0 1</matrix>
<instance_camera url="#Camera_003-camera"/>
</node>
- <node id="Lamp_002" name="Lamp_002" type="NODE">
- <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.0551891 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
- <instance_light url="#Lamp_002-light"/>
- </node>
<node id="Camera_004" name="Camera_004" type="NODE">
<matrix sid="transform">0.6859208 -0.3240134 0.6515582 7.481132 0.7276763 0.3054209 -0.6141704 -6.50764 -3.28323e-8 0.8953955 0.4452714 5.343665 0 0 0 1</matrix>
<instance_camera url="#Camera_004-camera"/>
</node>
- <node id="Lamp_003" name="Lamp_003" type="NODE">
- <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.0551891 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
- <instance_light url="#Lamp_003-light"/>
- </node>
<node id="node-shape0-name" name="node-shape0-name" type="NODE">
<matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
<instance_geometry url="#shape0_001-mesh" name="node-shape0-name">
diff --git a/robots/ur_description/meshes/ur10/visual/wrist1.dae b/robots/ur_description/meshes/ur10/visual/wrist1.dae
index 34a5c4da4fc507f096c3c8cfb4e011165806cffb..4156890004334063ed81f31e232d800f4c8365d2 100644
--- a/robots/ur_description/meshes/ur10/visual/wrist1.dae
+++ b/robots/ur_description/meshes/ur10/visual/wrist1.dae
@@ -293,26 +293,14 @@
<matrix sid="transform">0.6859207 -0.3240134 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 -4.01133e-9 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
<instance_camera url="#Camera_001-camera"/>
</node>
- <node id="Lamp_001" name="Lamp_001" type="NODE">
- <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
- <instance_light url="#Lamp_001-light"/>
- </node>
<node id="Camera_002" name="Camera_002" type="NODE">
<matrix sid="transform">0.6859207 -0.3240134 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 -4.01133e-9 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
<instance_camera url="#Camera_002-camera"/>
</node>
- <node id="Lamp" name="Lamp" type="NODE">
- <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
- <instance_light url="#Lamp-light"/>
- </node>
<node id="Camera_003" name="Camera_003" type="NODE">
<matrix sid="transform">0.6859207 -0.3240134 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 -4.01133e-9 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
<instance_camera url="#Camera_003-camera"/>
</node>
- <node id="Lamp_002" name="Lamp_002" type="NODE">
- <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
- <instance_light url="#Lamp_002-light"/>
- </node>
<node id="node-shape0-name" name="node-shape0-name" type="NODE">
<matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
<instance_geometry url="#shape0_001-mesh" name="node-shape0-name">
diff --git a/robots/ur_description/meshes/ur10/visual/wrist2.dae b/robots/ur_description/meshes/ur10/visual/wrist2.dae
index ae64c8795ce59c255ae04f988386f85c2c65d07f..e77baad2d44fb6a8b76240e330571a3711673a9d 100644
--- a/robots/ur_description/meshes/ur10/visual/wrist2.dae
+++ b/robots/ur_description/meshes/ur10/visual/wrist2.dae
@@ -228,10 +228,6 @@
<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="Lamp" name="Lamp" type="NODE">
- <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
- <instance_light url="#Lamp-light"/>
- </node>
<node id="node-shape0-name" name="node-shape0-name" type="NODE">
<matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
<instance_geometry url="#shape0_002-mesh" name="node-shape0-name">
diff --git a/robots/ur_description/meshes/ur10/visual/wrist3.dae b/robots/ur_description/meshes/ur10/visual/wrist3.dae
index 80b2f9688886f48cac66a3bce3714418ba757b10..7820f34d83679de65ec030e564fe9bf42c7b5975 100644
--- a/robots/ur_description/meshes/ur10/visual/wrist3.dae
+++ b/robots/ur_description/meshes/ur10/visual/wrist3.dae
@@ -222,10 +222,6 @@
<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="Lamp" name="Lamp" type="NODE">
- <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
- <instance_light url="#Lamp-light"/>
- </node>
<node id="node-shape0-name" name="node-shape0-name" type="NODE">
<matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
<instance_geometry url="#shape0_003-mesh" name="node-shape0-name">
diff --git a/robots/ur_description/meshes/ur3/visual/base.dae b/robots/ur_description/meshes/ur3/visual/base.dae
index ef03c05afd395f5b90894ebc8a3a5aa8c8e542ad..3514c135ae686f310812c7330843fc2b23268859 100644
--- a/robots/ur_description/meshes/ur3/visual/base.dae
+++ b/robots/ur_description/meshes/ur3/visual/base.dae
@@ -140,10 +140,6 @@
<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="Lamp" name="Lamp" type="NODE">
- <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
- <instance_light url="#Lamp-light"/>
- </node>
<node id="Base" name="Base" type="NODE">
<matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
<instance_geometry url="#Base-mesh" name="Base">
diff --git a/robots/ur_description/meshes/ur3/visual/forearm.dae b/robots/ur_description/meshes/ur3/visual/forearm.dae
index d1784d11364dc4a1d7370d92068011356be32b17..6dc9e1644a6dbac998e86a117dd27a4f6ffb621b 100644
--- a/robots/ur_description/meshes/ur3/visual/forearm.dae
+++ b/robots/ur_description/meshes/ur3/visual/forearm.dae
@@ -324,10 +324,6 @@
<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="Lamp" name="Lamp" type="NODE">
- <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
- <instance_light url="#Lamp-light"/>
- </node>
<node id="node0" name="node0" type="NODE">
<matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
<instance_geometry url="#Part__Feature019-mesh" name="node0">
diff --git a/robots/ur_description/meshes/ur3/visual/shoulder.dae b/robots/ur_description/meshes/ur3/visual/shoulder.dae
index 03dd4308df0cc550209678922e03d06aae7b8c57..5c581f9d0e4b8e27d3f4365b6936be732c0d5b72 100644
--- a/robots/ur_description/meshes/ur3/visual/shoulder.dae
+++ b/robots/ur_description/meshes/ur3/visual/shoulder.dae
@@ -328,10 +328,6 @@
<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="Lamp" name="Lamp" type="NODE">
- <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
- <instance_light url="#Lamp-light"/>
- </node>
<node id="node0" name="node0" type="NODE">
<matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
<instance_geometry url="#Part__Feature009_001-mesh" name="node0">
diff --git a/robots/ur_description/meshes/ur3/visual/upperarm.dae b/robots/ur_description/meshes/ur3/visual/upperarm.dae
index 9c82bab6203100d0c957ba907b25d2d7cc1fc496..2b2cce5b22e2bf4622f11a8b74293ef7c36b55fa 100644
--- a/robots/ur_description/meshes/ur3/visual/upperarm.dae
+++ b/robots/ur_description/meshes/ur3/visual/upperarm.dae
@@ -507,18 +507,10 @@
<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="Lamp" name="Lamp" type="NODE">
- <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
- <instance_light url="#Lamp-light"/>
- </node>
<node id="Camera_001" name="Camera_001" type="NODE">
<matrix sid="transform">0.6859207 -0.3240134 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 -4.01133e-9 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
<instance_camera url="#Camera_001-camera"/>
</node>
- <node id="Lamp_001" name="Lamp_001" type="NODE">
- <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
- <instance_light url="#Lamp_001-light"/>
- </node>
<node id="node0" name="node0" type="NODE">
<matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
<instance_geometry url="#Part__Feature010-mesh" name="node0">
diff --git a/robots/ur_description/meshes/ur3/visual/wrist1.dae b/robots/ur_description/meshes/ur3/visual/wrist1.dae
index 9959f3afd1236f1ccd469a15c944927c555308eb..c8c01ad722a919852a4205edab2e933121c8b86e 100644
--- a/robots/ur_description/meshes/ur3/visual/wrist1.dae
+++ b/robots/ur_description/meshes/ur3/visual/wrist1.dae
@@ -199,10 +199,6 @@
<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="Lamp" name="Lamp" type="NODE">
- <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
- <instance_light url="#Lamp-light"/>
- </node>
<node id="node0" name="node0" type="NODE">
<matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
<instance_geometry url="#Part__Feature027-mesh" name="node0">
diff --git a/robots/ur_description/meshes/ur3/visual/wrist2.dae b/robots/ur_description/meshes/ur3/visual/wrist2.dae
index e9f0906160215ddd9e448b913c2ec57c3d5cf07a..fdcd942f4a572aecf5726d3e88ecb465feadcd7c 100644
--- a/robots/ur_description/meshes/ur3/visual/wrist2.dae
+++ b/robots/ur_description/meshes/ur3/visual/wrist2.dae
@@ -199,10 +199,6 @@
<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="Lamp" name="Lamp" type="NODE">
- <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
- <instance_light url="#Lamp-light"/>
- </node>
<node id="node0" name="node0" type="NODE">
<matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
<instance_geometry url="#Part__Feature031-mesh" name="node0">
diff --git a/robots/ur_description/meshes/ur5/visual/base.dae b/robots/ur_description/meshes/ur5/visual/base.dae
index cd49ea1f9e65cb901385d7dd7e84e4436943b3a7..7723588fbe45b75886ba74014ba490a600425da6 100644
--- a/robots/ur_description/meshes/ur5/visual/base.dae
+++ b/robots/ur_description/meshes/ur5/visual/base.dae
@@ -140,10 +140,6 @@
<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="Lamp" name="Lamp" type="NODE">
- <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
- <instance_light url="#Lamp-light"/>
- </node>
<node id="Actor0" name="Actor0" type="NODE">
<matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
<instance_geometry url="#ActorShape0_0-Mesh_021-mesh" name="Actor0">
diff --git a/robots/ur_description/meshes/ur5/visual/forearm.dae b/robots/ur_description/meshes/ur5/visual/forearm.dae
index 46f44371cb254b4ba57e1a194ce991d3849ca3aa..aabb4a231e5677d3d021ce2ecd801c55422c21f0 100644
--- a/robots/ur_description/meshes/ur5/visual/forearm.dae
+++ b/robots/ur_description/meshes/ur5/visual/forearm.dae
@@ -260,10 +260,6 @@
<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="Lamp" name="Lamp" type="NODE">
- <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
- <instance_light url="#Lamp-light"/>
- </node>
<node id="Actor0_001" name="Actor0_001" type="NODE">
<matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
<instance_geometry url="#ActorShape0_0-Mesh_029-mesh" name="Actor0_001">
diff --git a/robots/ur_description/meshes/ur5/visual/shoulder.dae b/robots/ur_description/meshes/ur5/visual/shoulder.dae
index bb3723b1aa65fdcf19266f4ac0d5b434a2c33eda..db966c69b35a184178f03d0c506b1f1eb4732b43 100644
--- a/robots/ur_description/meshes/ur5/visual/shoulder.dae
+++ b/robots/ur_description/meshes/ur5/visual/shoulder.dae
@@ -201,10 +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="Lamp" name="Lamp" type="NODE">
- <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
- <instance_light url="#Lamp-light"/>
- </node>
<node id="Actor0" name="Actor0" type="NODE">
<matrix sid="transform">1 0 0 0 0 1 0 -1.565e-7 0 0 1 -1.565e-7 0 0 0 1</matrix>
<instance_geometry url="#ActorShape0_0-Mesh_023-mesh" name="Actor0">
diff --git a/robots/ur_description/meshes/ur5/visual/upperarm.dae b/robots/ur_description/meshes/ur5/visual/upperarm.dae
index 736a13c4b673b6bd5cf9bc6fa41f9256f956e9f8..2522ef1ab6a6724dd34e00d3135b64a2909685e5 100644
--- a/robots/ur_description/meshes/ur5/visual/upperarm.dae
+++ b/robots/ur_description/meshes/ur5/visual/upperarm.dae
@@ -331,10 +331,6 @@
<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="Lamp" name="Lamp" type="NODE">
- <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
- <instance_light url="#Lamp-light"/>
- </node>
<node id="Actor0" name="Actor0" type="NODE">
<matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
<instance_geometry url="#ActorShape0_0-Mesh_024-mesh" name="Actor0">
diff --git a/robots/ur_description/meshes/ur5/visual/wrist1.dae b/robots/ur_description/meshes/ur5/visual/wrist1.dae
index 243affefe86983773f112526bfa8b215f5375194..dd9125c450f36b8ce210c2a40715fe75a027d1a7 100644
--- a/robots/ur_description/meshes/ur5/visual/wrist1.dae
+++ b/robots/ur_description/meshes/ur5/visual/wrist1.dae
@@ -201,10 +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="Lamp" name="Lamp" type="NODE">
- <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
- <instance_light url="#Lamp-light"/>
- </node>
<node id="Actor0" name="Actor0" type="NODE">
<matrix sid="transform">1 0 0 0 0 1 0 0 0 0 0.9999999 0 0 0 0 1</matrix>
<instance_geometry url="#ActorShape0_0-Mesh_025-mesh" name="Actor0">
diff --git a/robots/ur_description/meshes/ur5/visual/wrist2.dae b/robots/ur_description/meshes/ur5/visual/wrist2.dae
index 07c74a514649811c4a6f6ee1bf760e989f26abd9..9ee8b014e231aa86db065bcc539c5c77e222c846 100644
--- a/robots/ur_description/meshes/ur5/visual/wrist2.dae
+++ b/robots/ur_description/meshes/ur5/visual/wrist2.dae
@@ -201,10 +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="Lamp" name="Lamp" type="NODE">
- <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
- <instance_light url="#Lamp-light"/>
- </node>
<node id="Actor0" name="Actor0" type="NODE">
<matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
<instance_geometry url="#ActorShape0_0-Mesh_026-mesh" name="Actor0">
diff --git a/robots/ur_description/meshes/ur5/visual/wrist3.dae b/robots/ur_description/meshes/ur5/visual/wrist3.dae
index 1049d138704c4b524b13f0b65db86fb848129a95..155b811516d88f3a26836728f5340c1fdbd80426 100644
--- a/robots/ur_description/meshes/ur5/visual/wrist3.dae
+++ b/robots/ur_description/meshes/ur5/visual/wrist3.dae
@@ -140,10 +140,6 @@
<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="Lamp" name="Lamp" type="NODE">
- <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
- <instance_light url="#Lamp-light"/>
- </node>
<node id="Actor0_001" name="Actor0_001" type="NODE">
<matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
<instance_geometry url="#ActorShape0_0-Mesh_003-mesh" name="Actor0_001">