From fcf0cb46c19743c7b71964e57332899a47c15fb2 Mon Sep 17 00:00:00 2001
From: Vladimir Petrik <vladimir.petrik@cvut.cz>
Date: Tue, 29 Nov 2022 15:17:34 +0100
Subject: [PATCH] remove nodes that are referencing lights_library
---
.../meshes/ur10/visual/forearm.dae | 8 -------
.../meshes/ur10/visual/shoulder.dae | 8 -------
.../meshes/ur10/visual/upperarm.dae | 24 -------------------
.../meshes/ur10/visual/wrist1.dae | 12 ----------
.../meshes/ur10/visual/wrist2.dae | 4 ----
.../meshes/ur10/visual/wrist3.dae | 4 ----
.../ur_description/meshes/ur3/visual/base.dae | 4 ----
.../meshes/ur3/visual/forearm.dae | 4 ----
.../meshes/ur3/visual/shoulder.dae | 4 ----
.../meshes/ur3/visual/upperarm.dae | 8 -------
.../meshes/ur3/visual/wrist1.dae | 4 ----
.../meshes/ur3/visual/wrist2.dae | 4 ----
.../ur_description/meshes/ur5/visual/base.dae | 4 ----
.../meshes/ur5/visual/forearm.dae | 4 ----
.../meshes/ur5/visual/shoulder.dae | 4 ----
.../meshes/ur5/visual/upperarm.dae | 4 ----
.../meshes/ur5/visual/wrist1.dae | 4 ----
.../meshes/ur5/visual/wrist2.dae | 4 ----
.../meshes/ur5/visual/wrist3.dae | 4 ----
19 files changed, 116 deletions(-)
diff --git a/robots/ur_description/meshes/ur10/visual/forearm.dae b/robots/ur_description/meshes/ur10/visual/forearm.dae
index df78fe0..1f27336 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 82116f9..33c839f 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 fa832af..eacd9cf 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 34a5c4d..4156890 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 ae64c87..e77baad 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 80b2f96..7820f34 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 ef03c05..3514c13 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 d1784d1..6dc9e16 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 03dd430..5c581f9 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 9c82bab..2b2cce5 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 9959f3a..c8c01ad 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 e9f0906..fdcd942 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 cd49ea1..7723588 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 46f4437..aabb4a2 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 bb3723b..db966c6 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 736a13c..2522ef1 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 243affe..dd9125c 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 07c74a5..9ee8b01 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 1049d13..155b811 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">
--
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