From 52dd7ce8ae0bc9148744107017f438e15cc49873 Mon Sep 17 00:00:00 2001
From: mewtwoshaurd <me@shaurkumar.com>
Date: Fri, 17 Jan 2025 11:30:03 -0700
Subject: [PATCH 1/2] fix: removed blender lighting and cameras from visual
 meshes

---
 meshes/ur20/visual/base.dae     | 266 -----------
 meshes/ur20/visual/forearm.dae  | 551 ----------------------
 meshes/ur20/visual/shoulder.dae |  74 ---
 meshes/ur20/visual/upperarm.dae |  74 ---
 meshes/ur20/visual/wrist1.dae   | 266 -----------
 meshes/ur20/visual/wrist2.dae   |  74 ---
 meshes/ur20/visual/wrist3.dae   | 813 --------------------------------
 7 files changed, 2118 deletions(-)

diff --git a/meshes/ur20/visual/base.dae b/meshes/ur20/visual/base.dae
index e182ceec..d984c105 100644
--- a/meshes/ur20/visual/base.dae
+++ b/meshes/ur20/visual/base.dae
@@ -11,252 +11,6 @@
     <unit name="meter" meter="1"/>
     <up_axis>Z_UP</up_axis>
   </asset>
-  <library_cameras>
-    <camera id="Camera_001-camera" name="Camera.001">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">39.59775</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <shiftx sid="shiftx" type="float">0</shiftx>
-          <shifty sid="shifty" type="float">0</shifty>
-          <YF_dofdist sid="YF_dofdist" type="float">0</YF_dofdist>
-        </technique>
-      </extra>
-    </camera>
-    <camera id="Camera-camera" name="Camera.002">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">39.59775</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <shiftx sid="shiftx" type="float">0</shiftx>
-          <shifty sid="shifty" type="float">0</shifty>
-          <YF_dofdist sid="YF_dofdist" type="float">0</YF_dofdist>
-        </technique>
-      </extra>
-    </camera>
-  </library_cameras>
-  <library_lights>
-    <light id="Point-light" name="Point.000">
-      <technique_common>
-        <point>
-          <color sid="color">1 1 1</color>
-          <constant_attenuation>1</constant_attenuation>
-          <linear_attenuation>0</linear_attenuation>
-          <quadratic_attenuation>0.001599967</quadratic_attenuation>
-        </point>
-      </technique_common>
-      <extra>
-        <technique profile="blender">
-          <type sid="type" type="int">0</type>
-          <flag sid="flag" type="int">0</flag>
-          <mode sid="mode" type="int">1</mode>
-          <gamma sid="blender_gamma" type="float">1</gamma>
-          <red sid="red" type="float">1</red>
-          <green sid="green" type="float">1</green>
-          <blue sid="blue" type="float">1</blue>
-          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
-          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
-          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
-          <energy sid="blender_energy" type="float">1</energy>
-          <dist sid="blender_dist" type="float">25</dist>
-          <spotsize sid="spotsize" type="float">45</spotsize>
-          <spotblend sid="spotblend" type="float">0.15</spotblend>
-          <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
-          <att1 sid="att1" type="float">0</att1>
-          <att2 sid="att2" type="float">1</att2>
-          <falloff_type sid="falloff_type" type="int">2</falloff_type>
-          <clipsta sid="clipsta" type="float">0.5</clipsta>
-          <clipend sid="clipend" type="float">40</clipend>
-          <bias sid="bias" type="float">1</bias>
-          <soft sid="soft" type="float">3</soft>
-          <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
-          <bufsize sid="bufsize" type="int">512</bufsize>
-          <samp sid="samp" type="int">3</samp>
-          <buffers sid="buffers" type="int">1</buffers>
-          <filtertype sid="filtertype" type="int">0</filtertype>
-          <bufflag sid="bufflag" type="int">0</bufflag>
-          <buftype sid="buftype" type="int">2</buftype>
-          <ray_samp sid="ray_samp" type="int">1</ray_samp>
-          <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
-          <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
-          <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
-          <area_shape sid="area_shape" type="int">0</area_shape>
-          <area_size sid="area_size" type="float">0.1</area_size>
-          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
-          <area_sizez sid="area_sizez" type="float">0.1</area_sizez>
-          <adapt_thresh sid="adapt_thresh" type="float">9.99987e-4</adapt_thresh>
-          <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
-          <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
-          <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
-          <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
-          <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
-          <spread sid="spread" type="float">1</spread>
-          <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
-          <sun_size sid="sun_size" type="float">1</sun_size>
-          <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
-          <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
-          <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
-          <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
-          <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
-          <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
-          <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
-          <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
-        </technique>
-      </extra>
-    </light>
-    <light id="Light_001-light" name="Light.001">
-      <technique_common>
-        <point>
-          <color sid="color">1000 1000 1000</color>
-          <constant_attenuation>1</constant_attenuation>
-          <linear_attenuation>0</linear_attenuation>
-          <quadratic_attenuation>0.00111109</quadratic_attenuation>
-        </point>
-      </technique_common>
-      <extra>
-        <technique profile="blender">
-          <type sid="type" type="int">0</type>
-          <flag sid="flag" type="int">0</flag>
-          <mode sid="mode" type="int">1</mode>
-          <gamma sid="blender_gamma" type="float">1</gamma>
-          <red sid="red" type="float">1</red>
-          <green sid="green" type="float">1</green>
-          <blue sid="blue" type="float">1</blue>
-          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
-          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
-          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
-          <energy sid="blender_energy" type="float">1000</energy>
-          <dist sid="blender_dist" type="float">29.99998</dist>
-          <spotsize sid="spotsize" type="float">75</spotsize>
-          <spotblend sid="spotblend" type="float">0.15</spotblend>
-          <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
-          <att1 sid="att1" type="float">0</att1>
-          <att2 sid="att2" type="float">1</att2>
-          <falloff_type sid="falloff_type" type="int">2</falloff_type>
-          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
-          <clipend sid="clipend" type="float">30.002</clipend>
-          <bias sid="bias" type="float">1</bias>
-          <soft sid="soft" type="float">3</soft>
-          <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
-          <bufsize sid="bufsize" type="int">2880</bufsize>
-          <samp sid="samp" type="int">3</samp>
-          <buffers sid="buffers" type="int">1</buffers>
-          <filtertype sid="filtertype" type="int">0</filtertype>
-          <bufflag sid="bufflag" type="int">0</bufflag>
-          <buftype sid="buftype" type="int">2</buftype>
-          <ray_samp sid="ray_samp" type="int">1</ray_samp>
-          <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
-          <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
-          <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
-          <area_shape sid="area_shape" type="int">1</area_shape>
-          <area_size sid="area_size" type="float">0.1</area_size>
-          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
-          <area_sizez sid="area_sizez" type="float">1</area_sizez>
-          <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
-          <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
-          <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
-          <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
-          <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
-          <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
-          <spread sid="spread" type="float">1</spread>
-          <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
-          <sun_size sid="sun_size" type="float">1</sun_size>
-          <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
-          <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
-          <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
-          <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
-          <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
-          <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
-          <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
-          <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
-        </technique>
-      </extra>
-    </light>
-    <light id="Light-light" name="Light">
-      <technique_common>
-        <point>
-          <color sid="color">1000 1000 1000</color>
-          <constant_attenuation>1</constant_attenuation>
-          <linear_attenuation>0</linear_attenuation>
-          <quadratic_attenuation>0.00111109</quadratic_attenuation>
-        </point>
-      </technique_common>
-      <extra>
-        <technique profile="blender">
-          <type sid="type" type="int">0</type>
-          <flag sid="flag" type="int">0</flag>
-          <mode sid="mode" type="int">1</mode>
-          <gamma sid="blender_gamma" type="float">1</gamma>
-          <red sid="red" type="float">1</red>
-          <green sid="green" type="float">1</green>
-          <blue sid="blue" type="float">1</blue>
-          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
-          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
-          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
-          <energy sid="blender_energy" type="float">1000</energy>
-          <dist sid="blender_dist" type="float">29.99998</dist>
-          <spotsize sid="spotsize" type="float">75</spotsize>
-          <spotblend sid="spotblend" type="float">0.15</spotblend>
-          <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
-          <att1 sid="att1" type="float">0</att1>
-          <att2 sid="att2" type="float">1</att2>
-          <falloff_type sid="falloff_type" type="int">2</falloff_type>
-          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
-          <clipend sid="clipend" type="float">30.002</clipend>
-          <bias sid="bias" type="float">1</bias>
-          <soft sid="soft" type="float">3</soft>
-          <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
-          <bufsize sid="bufsize" type="int">2880</bufsize>
-          <samp sid="samp" type="int">3</samp>
-          <buffers sid="buffers" type="int">1</buffers>
-          <filtertype sid="filtertype" type="int">0</filtertype>
-          <bufflag sid="bufflag" type="int">0</bufflag>
-          <buftype sid="buftype" type="int">2</buftype>
-          <ray_samp sid="ray_samp" type="int">1</ray_samp>
-          <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
-          <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
-          <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
-          <area_shape sid="area_shape" type="int">1</area_shape>
-          <area_size sid="area_size" type="float">0.1</area_size>
-          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
-          <area_sizez sid="area_sizez" type="float">1</area_sizez>
-          <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
-          <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
-          <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
-          <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
-          <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
-          <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
-          <spread sid="spread" type="float">1</spread>
-          <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
-          <sun_size sid="sun_size" type="float">1</sun_size>
-          <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
-          <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
-          <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
-          <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
-          <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
-          <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
-          <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
-          <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
-        </technique>
-      </extra>
-    </light>
-  </library_lights>
   <library_images>
     <image id="UR20_DIFF_8bit_2K_png" name="UR20_DIFF_8bit_2K_png">
       <init_from>UR20_DIFF_8bit_2K.png</init_from>
@@ -457,18 +211,6 @@
   <library_controllers/>
   <library_visual_scenes>
     <visual_scene id="Scene" name="Scene">
-      <node id="Point" name="Point" type="NODE">
-        <matrix sid="transform">1 0 0 0.03485537 0 1 0 -0.8024882 0 0 1 1.230019 0 0 0 1</matrix>
-        <instance_light url="#Point-light"/>
-      </node>
-      <node id="Light_001" name="Light_001" type="NODE">
-        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183913 1.005454 -0.05518914 0.6045247 0.7946724 5.903862 0 0 0 1</matrix>
-        <instance_light url="#Light_001-light"/>
-      </node>
-      <node id="Camera_001" name="Camera_001" type="NODE">
-        <matrix sid="transform">0.6859207 -0.3240134 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
-        <instance_camera url="#Camera_001-camera"/>
-      </node>
       <node id="root-mesh_006" name="root-mesh_006" type="NODE">
         <matrix sid="transform">-0.9999999 -6.27833e-7 7.47042e-7 2.97015e-9 6.27833e-7 -0.9999999 -3.42293e-8 5.95907e-9 7.47042e-7 -3.42288e-8 0.9999999 0.01967039 0 0 0 1</matrix>
         <instance_geometry url="#Cylinder_013-mesh" name="root-mesh_006">
@@ -505,14 +247,6 @@
           </bind_material>
         </instance_geometry>
       </node>
-      <node id="Camera" name="Camera" type="NODE">
-        <matrix sid="transform">0.6859207 -0.3240134 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
-        <instance_camera url="#Camera-camera"/>
-      </node>
-      <node id="Light" name="Light" 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="#Light-light"/>
-      </node>
     </visual_scene>
   </library_visual_scenes>
   <scene>
diff --git a/meshes/ur20/visual/forearm.dae b/meshes/ur20/visual/forearm.dae
index 58e10348..5701e2be 100644
--- a/meshes/ur20/visual/forearm.dae
+++ b/meshes/ur20/visual/forearm.dae
@@ -11,513 +11,6 @@
     <unit name="meter" meter="1"/>
     <up_axis>Z_UP</up_axis>
   </asset>
-  <library_cameras>
-    <camera id="Camera_001-camera" name="Camera.001">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">39.59775</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <shiftx sid="shiftx" type="float">0</shiftx>
-          <shifty sid="shifty" type="float">0</shifty>
-          <YF_dofdist sid="YF_dofdist" type="float">0</YF_dofdist>
-        </technique>
-      </extra>
-    </camera>
-    <camera id="Camera-camera" name="Camera.002">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">39.59775</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <shiftx sid="shiftx" type="float">0</shiftx>
-          <shifty sid="shifty" type="float">0</shifty>
-          <YF_dofdist sid="YF_dofdist" type="float">0</YF_dofdist>
-        </technique>
-      </extra>
-    </camera>
-    <camera id="Camera_002-camera" name="Camera.003">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">39.59775</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <shiftx sid="shiftx" type="float">0</shiftx>
-          <shifty sid="shifty" type="float">0</shifty>
-          <YF_dofdist sid="YF_dofdist" type="float">0</YF_dofdist>
-        </technique>
-      </extra>
-    </camera>
-    <camera id="Camera_003-camera" name="Camera.004">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">49.13434</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <shiftx sid="shiftx" type="float">0</shiftx>
-          <shifty sid="shifty" type="float">0</shifty>
-          <YF_dofdist sid="YF_dofdist" type="float">0</YF_dofdist>
-        </technique>
-      </extra>
-    </camera>
-    <camera id="Camera_004-camera" name="Camera.005">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">39.59775</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <shiftx sid="shiftx" type="float">0</shiftx>
-          <shifty sid="shifty" type="float">0</shifty>
-          <YF_dofdist sid="YF_dofdist" type="float">0</YF_dofdist>
-        </technique>
-      </extra>
-    </camera>
-  </library_cameras>
-  <library_lights>
-    <light id="Point-light" name="Point.000">
-      <technique_common>
-        <point>
-          <color sid="color">1 1 1</color>
-          <constant_attenuation>1</constant_attenuation>
-          <linear_attenuation>0</linear_attenuation>
-          <quadratic_attenuation>0.001599967</quadratic_attenuation>
-        </point>
-      </technique_common>
-      <extra>
-        <technique profile="blender">
-          <type sid="type" type="int">0</type>
-          <flag sid="flag" type="int">0</flag>
-          <mode sid="mode" type="int">1</mode>
-          <gamma sid="blender_gamma" type="float">1</gamma>
-          <red sid="red" type="float">1</red>
-          <green sid="green" type="float">1</green>
-          <blue sid="blue" type="float">1</blue>
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-          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
-          <energy sid="blender_energy" type="float">1</energy>
-          <dist sid="blender_dist" type="float">25</dist>
-          <spotsize sid="spotsize" type="float">45</spotsize>
-          <spotblend sid="spotblend" type="float">0.15</spotblend>
-          <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
-          <att1 sid="att1" type="float">0</att1>
-          <att2 sid="att2" type="float">1</att2>
-          <falloff_type sid="falloff_type" type="int">2</falloff_type>
-          <clipsta sid="clipsta" type="float">0.5</clipsta>
-          <clipend sid="clipend" type="float">40</clipend>
-          <bias sid="bias" type="float">1</bias>
-          <soft sid="soft" type="float">3</soft>
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-          <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
-          <sun_size sid="sun_size" type="float">1</sun_size>
-          <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
-          <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
-          <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
-          <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
-          <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
-          <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
-          <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
-          <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
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-    <light id="Light_001-light" name="Light.001">
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-        <point>
-          <color sid="color">1000 1000 1000</color>
-          <constant_attenuation>1</constant_attenuation>
-          <linear_attenuation>0</linear_attenuation>
-          <quadratic_attenuation>0.00111109</quadratic_attenuation>
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-      <extra>
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-          <type sid="type" type="int">0</type>
-          <flag sid="flag" type="int">0</flag>
-          <mode sid="mode" type="int">1</mode>
-          <gamma sid="blender_gamma" type="float">1</gamma>
-          <red sid="red" type="float">1</red>
-          <green sid="green" type="float">1</green>
-          <blue sid="blue" type="float">1</blue>
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-          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
-          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
-          <energy sid="blender_energy" type="float">1000</energy>
-          <dist sid="blender_dist" type="float">29.99998</dist>
-          <spotsize sid="spotsize" type="float">75</spotsize>
-          <spotblend sid="spotblend" type="float">0.15</spotblend>
-          <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
-          <att1 sid="att1" type="float">0</att1>
-          <att2 sid="att2" type="float">1</att2>
-          <falloff_type sid="falloff_type" type="int">2</falloff_type>
-          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
-          <clipend sid="clipend" type="float">30.002</clipend>
-          <bias sid="bias" type="float">1</bias>
-          <soft sid="soft" type="float">3</soft>
-          <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
-          <bufsize sid="bufsize" type="int">2880</bufsize>
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-          <buffers sid="buffers" type="int">1</buffers>
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-          <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
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-          <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
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-          <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
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-          <spread sid="spread" type="float">1</spread>
-          <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
-          <sun_size sid="sun_size" type="float">1</sun_size>
-          <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
-          <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
-          <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
-          <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
-          <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
-          <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
-          <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
-          <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
-        </technique>
-      </extra>
-    </light>
-    <light id="Light-light" name="Light">
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-        <point>
-          <color sid="color">1000 1000 1000</color>
-          <constant_attenuation>1</constant_attenuation>
-          <linear_attenuation>0</linear_attenuation>
-          <quadratic_attenuation>0.00111109</quadratic_attenuation>
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-      </technique_common>
-      <extra>
-        <technique profile="blender">
-          <type sid="type" type="int">0</type>
-          <flag sid="flag" type="int">0</flag>
-          <mode sid="mode" type="int">1</mode>
-          <gamma sid="blender_gamma" type="float">1</gamma>
-          <red sid="red" type="float">1</red>
-          <green sid="green" type="float">1</green>
-          <blue sid="blue" type="float">1</blue>
-          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
-          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
-          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
-          <energy sid="blender_energy" type="float">1000</energy>
-          <dist sid="blender_dist" type="float">29.99998</dist>
-          <spotsize sid="spotsize" type="float">75</spotsize>
-          <spotblend sid="spotblend" type="float">0.15</spotblend>
-          <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
-          <att1 sid="att1" type="float">0</att1>
-          <att2 sid="att2" type="float">1</att2>
-          <falloff_type sid="falloff_type" type="int">2</falloff_type>
-          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
-          <clipend sid="clipend" type="float">30.002</clipend>
-          <bias sid="bias" type="float">1</bias>
-          <soft sid="soft" type="float">3</soft>
-          <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
-          <bufsize sid="bufsize" type="int">2880</bufsize>
-          <samp sid="samp" type="int">3</samp>
-          <buffers sid="buffers" type="int">1</buffers>
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-          <bufflag sid="bufflag" type="int">0</bufflag>
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-          <ray_samp sid="ray_samp" type="int">1</ray_samp>
-          <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
-          <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
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-          <area_sizez sid="area_sizez" type="float">1</area_sizez>
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-          <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
-          <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
-          <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
-          <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
-          <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
-          <spread sid="spread" type="float">1</spread>
-          <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
-          <sun_size sid="sun_size" type="float">1</sun_size>
-          <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
-          <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
-          <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
-          <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
-          <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
-          <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
-          <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
-          <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
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-      </extra>
-    </light>
-    <light id="Light_002-light" name="Light.002">
-      <technique_common>
-        <point>
-          <color sid="color">1000 1000 1000</color>
-          <constant_attenuation>1</constant_attenuation>
-          <linear_attenuation>0</linear_attenuation>
-          <quadratic_attenuation>0.00111109</quadratic_attenuation>
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-      </technique_common>
-      <extra>
-        <technique profile="blender">
-          <type sid="type" type="int">0</type>
-          <flag sid="flag" type="int">0</flag>
-          <mode sid="mode" type="int">1</mode>
-          <gamma sid="blender_gamma" type="float">1</gamma>
-          <red sid="red" type="float">1</red>
-          <green sid="green" type="float">1</green>
-          <blue sid="blue" type="float">1</blue>
-          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
-          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
-          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
-          <energy sid="blender_energy" type="float">1000</energy>
-          <dist sid="blender_dist" type="float">29.99998</dist>
-          <spotsize sid="spotsize" type="float">75</spotsize>
-          <spotblend sid="spotblend" type="float">0.15</spotblend>
-          <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
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-          <falloff_type sid="falloff_type" type="int">2</falloff_type>
-          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
-          <clipend sid="clipend" type="float">30.002</clipend>
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-          <soft sid="soft" type="float">3</soft>
-          <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
-          <bufsize sid="bufsize" type="int">2880</bufsize>
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-          <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
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-          <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
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-          <sun_size sid="sun_size" type="float">1</sun_size>
-          <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
-          <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
-          <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
-          <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
-          <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
-          <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
-          <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
-          <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
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-    <light id="Lamp-light" name="Lamp.001">
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-        <point>
-          <color sid="color">1 1 1</color>
-          <constant_attenuation>1</constant_attenuation>
-          <linear_attenuation>0</linear_attenuation>
-          <quadratic_attenuation>0.00111109</quadratic_attenuation>
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-      <extra>
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-          <flag sid="flag" type="int">0</flag>
-          <mode sid="mode" type="int">8192</mode>
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-          <red sid="red" type="float">1</red>
-          <green sid="green" type="float">1</green>
-          <blue sid="blue" type="float">1</blue>
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-          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
-          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
-          <energy sid="blender_energy" type="float">1</energy>
-          <dist sid="blender_dist" type="float">29.99998</dist>
-          <spotsize sid="spotsize" type="float">75</spotsize>
-          <spotblend sid="spotblend" type="float">0.15</spotblend>
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-          <sun_size sid="sun_size" type="float">1</sun_size>
-          <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
-          <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
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-          <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
-          <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
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-          <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
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-    <light id="Light_003-light" name="Light.003">
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-          <quadratic_attenuation>0.00111109</quadratic_attenuation>
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-          <green sid="green" type="float">1</green>
-          <blue sid="blue" type="float">1</blue>
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-          <energy sid="blender_energy" type="float">1000</energy>
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-          <spotsize sid="spotsize" type="float">75</spotsize>
-          <spotblend sid="spotblend" type="float">0.15</spotblend>
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-          <bufflag sid="bufflag" type="int">0</bufflag>
-          <buftype sid="buftype" type="int">2</buftype>
-          <ray_samp sid="ray_samp" type="int">1</ray_samp>
-          <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
-          <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
-          <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
-          <area_shape sid="area_shape" type="int">1</area_shape>
-          <area_size sid="area_size" type="float">0.1</area_size>
-          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
-          <area_sizez sid="area_sizez" type="float">1</area_sizez>
-          <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
-          <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
-          <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
-          <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
-          <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
-          <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
-          <spread sid="spread" type="float">1</spread>
-          <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
-          <sun_size sid="sun_size" type="float">1</sun_size>
-          <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
-          <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
-          <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
-          <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
-          <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
-          <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
-          <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
-          <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
-        </technique>
-      </extra>
-    </light>
-  </library_lights>
   <library_images>
     <image id="UR20_DIFF_8bit_2K_png" name="UR20_DIFF_8bit_2K_png">
       <init_from>UR20_DIFF_8bit_2K.png</init_from>
@@ -771,42 +264,6 @@
   <library_controllers/>
   <library_visual_scenes>
     <visual_scene id="Scene" name="Scene">
-      <node id="Point" name="Point" type="NODE">
-        <matrix sid="transform">1 0 0 0.03485537 0 1 0 -0.8024882 0 0 1 1.230019 0 0 0 1</matrix>
-        <instance_light url="#Point-light"/>
-      </node>
-      <node id="Light_001" name="Light_001" type="NODE">
-        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183913 1.005454 -0.05518914 0.6045247 0.7946724 5.903862 0 0 0 1</matrix>
-        <instance_light url="#Light_001-light"/>
-      </node>
-      <node id="Camera_001" name="Camera_001" type="NODE">
-        <matrix sid="transform">0.6859207 -0.3240134 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
-        <instance_camera url="#Camera_001-camera"/>
-      </node>
-      <node id="Camera" name="Camera" type="NODE">
-        <matrix sid="transform">0.6859207 -0.3240134 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
-        <instance_camera url="#Camera-camera"/>
-      </node>
-      <node id="Light" name="Light" 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="#Light-light"/>
-      </node>
-      <node id="Light_002" name="Light_002" type="NODE">
-        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183913 1.005454 -0.05518914 0.6045247 0.7946724 5.903862 0 0 0 1</matrix>
-        <instance_light url="#Light_002-light"/>
-      </node>
-      <node id="Camera_002" name="Camera_002" type="NODE">
-        <matrix sid="transform">0.6859207 -0.3240134 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
-        <instance_camera url="#Camera_002-camera"/>
-      </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" name="Lamp" type="NODE">
-        <matrix sid="transform">-0.2908647 -0.7711006 0.5663933 4.076245 0.9551711 -0.1998833 0.2183914 1.005454 -0.05518921 0.6045248 0.7946723 5.903862 0 0 0 1</matrix>
-        <instance_light url="#Lamp-light"/>
-      </node>
       <node id="elbow-mesh_009" name="elbow-mesh_009" type="NODE">
         <matrix sid="transform">0.9999998 0 0 0 0 0.9999998 0 0.1047 0 0 0.9999999 0 0 0 0 1</matrix>
         <instance_geometry url="#Cylinder_035-mesh" name="elbow-mesh_009">
@@ -855,14 +312,6 @@
           </bind_material>
         </instance_geometry>
       </node>
-      <node id="Camera_004" name="Camera_004" type="NODE">
-        <matrix sid="transform">0.6859207 -0.3240134 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
-        <instance_camera url="#Camera_004-camera"/>
-      </node>
-      <node id="Light_003" name="Light_003" 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="#Light_003-light"/>
-      </node>
     </visual_scene>
   </library_visual_scenes>
   <scene>
diff --git a/meshes/ur20/visual/shoulder.dae b/meshes/ur20/visual/shoulder.dae
index bee13874..fc25f131 100644
--- a/meshes/ur20/visual/shoulder.dae
+++ b/meshes/ur20/visual/shoulder.dae
@@ -11,76 +11,6 @@
     <unit name="meter" meter="1"/>
     <up_axis>Z_UP</up_axis>
   </asset>
-  <library_lights>
-    <light id="Point-light" name="Point.000">
-      <technique_common>
-        <point>
-          <color sid="color">1 1 1</color>
-          <constant_attenuation>1</constant_attenuation>
-          <linear_attenuation>0</linear_attenuation>
-          <quadratic_attenuation>0.001599967</quadratic_attenuation>
-        </point>
-      </technique_common>
-      <extra>
-        <technique profile="blender">
-          <type sid="type" type="int">0</type>
-          <flag sid="flag" type="int">0</flag>
-          <mode sid="mode" type="int">1</mode>
-          <gamma sid="blender_gamma" type="float">1</gamma>
-          <red sid="red" type="float">1</red>
-          <green sid="green" type="float">1</green>
-          <blue sid="blue" type="float">1</blue>
-          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
-          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
-          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
-          <energy sid="blender_energy" type="float">1</energy>
-          <dist sid="blender_dist" type="float">25</dist>
-          <spotsize sid="spotsize" type="float">45</spotsize>
-          <spotblend sid="spotblend" type="float">0.15</spotblend>
-          <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
-          <att1 sid="att1" type="float">0</att1>
-          <att2 sid="att2" type="float">1</att2>
-          <falloff_type sid="falloff_type" type="int">2</falloff_type>
-          <clipsta sid="clipsta" type="float">0.5</clipsta>
-          <clipend sid="clipend" type="float">40</clipend>
-          <bias sid="bias" type="float">1</bias>
-          <soft sid="soft" type="float">3</soft>
-          <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
-          <bufsize sid="bufsize" type="int">512</bufsize>
-          <samp sid="samp" type="int">3</samp>
-          <buffers sid="buffers" type="int">1</buffers>
-          <filtertype sid="filtertype" type="int">0</filtertype>
-          <bufflag sid="bufflag" type="int">0</bufflag>
-          <buftype sid="buftype" type="int">2</buftype>
-          <ray_samp sid="ray_samp" type="int">1</ray_samp>
-          <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
-          <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
-          <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
-          <area_shape sid="area_shape" type="int">0</area_shape>
-          <area_size sid="area_size" type="float">0.1</area_size>
-          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
-          <area_sizez sid="area_sizez" type="float">0.1</area_sizez>
-          <adapt_thresh sid="adapt_thresh" type="float">9.99987e-4</adapt_thresh>
-          <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
-          <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
-          <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
-          <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
-          <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
-          <spread sid="spread" type="float">1</spread>
-          <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
-          <sun_size sid="sun_size" type="float">1</sun_size>
-          <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
-          <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
-          <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
-          <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
-          <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
-          <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
-          <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
-          <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
-        </technique>
-      </extra>
-    </light>
-  </library_lights>
   <library_images>
     <image id="UR20_DIFF_8bit_2K_png" name="UR20_DIFF_8bit_2K_png">
       <init_from>UR20_DIFF_8bit_2K.png</init_from>
@@ -228,10 +158,6 @@
   <library_controllers/>
   <library_visual_scenes>
     <visual_scene id="Scene" name="Scene">
-      <node id="Point" name="Point" type="NODE">
-        <matrix sid="transform">1 0 0 0.03485537 0 1 0 -0.8024882 0 0 1 1.230019 0 0 0 1</matrix>
-        <instance_light url="#Point-light"/>
-      </node>
       <node id="base-mesh_001" name="base-mesh_001" type="NODE">
         <matrix sid="transform">1 4.59721e-14 -6.71544e-7 -6.60478e-9 0 0.9999998 6.84573e-8 -3.75811e-9 6.71544e-7 -6.84573e-8 0.9999998 -0.2169 0 0 0 1</matrix>
         <instance_geometry url="#Cylinder_011-mesh" name="base-mesh_001">
diff --git a/meshes/ur20/visual/upperarm.dae b/meshes/ur20/visual/upperarm.dae
index cf7f1504..26b0b9bb 100644
--- a/meshes/ur20/visual/upperarm.dae
+++ b/meshes/ur20/visual/upperarm.dae
@@ -11,76 +11,6 @@
     <unit name="meter" meter="1"/>
     <up_axis>Z_UP</up_axis>
   </asset>
-  <library_lights>
-    <light id="Point-light" name="Point.003">
-      <technique_common>
-        <point>
-          <color sid="color">1 1 1</color>
-          <constant_attenuation>1</constant_attenuation>
-          <linear_attenuation>0</linear_attenuation>
-          <quadratic_attenuation>0.001599967</quadratic_attenuation>
-        </point>
-      </technique_common>
-      <extra>
-        <technique profile="blender">
-          <type sid="type" type="int">0</type>
-          <flag sid="flag" type="int">0</flag>
-          <mode sid="mode" type="int">1</mode>
-          <gamma sid="blender_gamma" type="float">1</gamma>
-          <red sid="red" type="float">1</red>
-          <green sid="green" type="float">1</green>
-          <blue sid="blue" type="float">1</blue>
-          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
-          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
-          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
-          <energy sid="blender_energy" type="float">1</energy>
-          <dist sid="blender_dist" type="float">25</dist>
-          <spotsize sid="spotsize" type="float">45</spotsize>
-          <spotblend sid="spotblend" type="float">0.15</spotblend>
-          <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
-          <att1 sid="att1" type="float">0</att1>
-          <att2 sid="att2" type="float">1</att2>
-          <falloff_type sid="falloff_type" type="int">2</falloff_type>
-          <clipsta sid="clipsta" type="float">0.5</clipsta>
-          <clipend sid="clipend" type="float">40</clipend>
-          <bias sid="bias" type="float">1</bias>
-          <soft sid="soft" type="float">3</soft>
-          <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
-          <bufsize sid="bufsize" type="int">512</bufsize>
-          <samp sid="samp" type="int">3</samp>
-          <buffers sid="buffers" type="int">1</buffers>
-          <filtertype sid="filtertype" type="int">0</filtertype>
-          <bufflag sid="bufflag" type="int">0</bufflag>
-          <buftype sid="buftype" type="int">2</buftype>
-          <ray_samp sid="ray_samp" type="int">1</ray_samp>
-          <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
-          <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
-          <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
-          <area_shape sid="area_shape" type="int">0</area_shape>
-          <area_size sid="area_size" type="float">0.1</area_size>
-          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
-          <area_sizez sid="area_sizez" type="float">0.1</area_sizez>
-          <adapt_thresh sid="adapt_thresh" type="float">9.99987e-4</adapt_thresh>
-          <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
-          <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
-          <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
-          <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
-          <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
-          <spread sid="spread" type="float">1</spread>
-          <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
-          <sun_size sid="sun_size" type="float">1</sun_size>
-          <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
-          <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
-          <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
-          <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
-          <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
-          <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
-          <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
-          <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
-        </technique>
-      </extra>
-    </light>
-  </library_lights>
   <library_images>
     <image id="UR20_DIFF_8bit_2K_png" name="UR20_DIFF_8bit_2K_png">
       <init_from>UR20_DIFF_8bit_2K.png</init_from>
@@ -334,10 +264,6 @@
   <library_controllers/>
   <library_visual_scenes>
     <visual_scene id="Scene" name="Scene">
-      <node id="Point" name="Point" type="NODE">
-        <matrix sid="transform">1 0 0 0.03485537 0 1 0 -0.8024882 0 0 1 1.230019 0 0 0 1</matrix>
-        <instance_light url="#Point-light"/>
-      </node>
       <node id="shoulder-mesh_004" name="shoulder-mesh_004" type="NODE">
         <matrix sid="transform">0.9999999 0 0 1.13982e-4 0 1 0 -0.130152 0 0 1 0 0 0 0 1</matrix>
         <instance_geometry url="#Cylinder_018-mesh" name="shoulder-mesh_004"/>
diff --git a/meshes/ur20/visual/wrist1.dae b/meshes/ur20/visual/wrist1.dae
index ea6535f1..99ed431a 100644
--- a/meshes/ur20/visual/wrist1.dae
+++ b/meshes/ur20/visual/wrist1.dae
@@ -11,252 +11,6 @@
     <unit name="meter" meter="1"/>
     <up_axis>Z_UP</up_axis>
   </asset>
-  <library_cameras>
-    <camera id="Camera_001-camera" name="Camera.001">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">39.59775</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <shiftx sid="shiftx" type="float">0</shiftx>
-          <shifty sid="shifty" type="float">0</shifty>
-          <YF_dofdist sid="YF_dofdist" type="float">0</YF_dofdist>
-        </technique>
-      </extra>
-    </camera>
-    <camera id="Camera-camera" name="Camera.002">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">39.59775</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <shiftx sid="shiftx" type="float">0</shiftx>
-          <shifty sid="shifty" type="float">0</shifty>
-          <YF_dofdist sid="YF_dofdist" type="float">0</YF_dofdist>
-        </technique>
-      </extra>
-    </camera>
-  </library_cameras>
-  <library_lights>
-    <light id="Point-light" name="Point.000">
-      <technique_common>
-        <point>
-          <color sid="color">1 1 1</color>
-          <constant_attenuation>1</constant_attenuation>
-          <linear_attenuation>0</linear_attenuation>
-          <quadratic_attenuation>0.001599967</quadratic_attenuation>
-        </point>
-      </technique_common>
-      <extra>
-        <technique profile="blender">
-          <type sid="type" type="int">0</type>
-          <flag sid="flag" type="int">0</flag>
-          <mode sid="mode" type="int">1</mode>
-          <gamma sid="blender_gamma" type="float">1</gamma>
-          <red sid="red" type="float">1</red>
-          <green sid="green" type="float">1</green>
-          <blue sid="blue" type="float">1</blue>
-          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
-          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
-          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
-          <energy sid="blender_energy" type="float">1</energy>
-          <dist sid="blender_dist" type="float">25</dist>
-          <spotsize sid="spotsize" type="float">45</spotsize>
-          <spotblend sid="spotblend" type="float">0.15</spotblend>
-          <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
-          <att1 sid="att1" type="float">0</att1>
-          <att2 sid="att2" type="float">1</att2>
-          <falloff_type sid="falloff_type" type="int">2</falloff_type>
-          <clipsta sid="clipsta" type="float">0.5</clipsta>
-          <clipend sid="clipend" type="float">40</clipend>
-          <bias sid="bias" type="float">1</bias>
-          <soft sid="soft" type="float">3</soft>
-          <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
-          <bufsize sid="bufsize" type="int">512</bufsize>
-          <samp sid="samp" type="int">3</samp>
-          <buffers sid="buffers" type="int">1</buffers>
-          <filtertype sid="filtertype" type="int">0</filtertype>
-          <bufflag sid="bufflag" type="int">0</bufflag>
-          <buftype sid="buftype" type="int">2</buftype>
-          <ray_samp sid="ray_samp" type="int">1</ray_samp>
-          <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
-          <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
-          <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
-          <area_shape sid="area_shape" type="int">0</area_shape>
-          <area_size sid="area_size" type="float">0.1</area_size>
-          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
-          <area_sizez sid="area_sizez" type="float">0.1</area_sizez>
-          <adapt_thresh sid="adapt_thresh" type="float">9.99987e-4</adapt_thresh>
-          <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
-          <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
-          <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
-          <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
-          <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
-          <spread sid="spread" type="float">1</spread>
-          <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
-          <sun_size sid="sun_size" type="float">1</sun_size>
-          <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
-          <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
-          <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
-          <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
-          <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
-          <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
-          <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
-          <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
-        </technique>
-      </extra>
-    </light>
-    <light id="Light_001-light" name="Light.001">
-      <technique_common>
-        <point>
-          <color sid="color">1000 1000 1000</color>
-          <constant_attenuation>1</constant_attenuation>
-          <linear_attenuation>0</linear_attenuation>
-          <quadratic_attenuation>0.00111109</quadratic_attenuation>
-        </point>
-      </technique_common>
-      <extra>
-        <technique profile="blender">
-          <type sid="type" type="int">0</type>
-          <flag sid="flag" type="int">0</flag>
-          <mode sid="mode" type="int">1</mode>
-          <gamma sid="blender_gamma" type="float">1</gamma>
-          <red sid="red" type="float">1</red>
-          <green sid="green" type="float">1</green>
-          <blue sid="blue" type="float">1</blue>
-          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
-          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
-          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
-          <energy sid="blender_energy" type="float">1000</energy>
-          <dist sid="blender_dist" type="float">29.99998</dist>
-          <spotsize sid="spotsize" type="float">75</spotsize>
-          <spotblend sid="spotblend" type="float">0.15</spotblend>
-          <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
-          <att1 sid="att1" type="float">0</att1>
-          <att2 sid="att2" type="float">1</att2>
-          <falloff_type sid="falloff_type" type="int">2</falloff_type>
-          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
-          <clipend sid="clipend" type="float">30.002</clipend>
-          <bias sid="bias" type="float">1</bias>
-          <soft sid="soft" type="float">3</soft>
-          <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
-          <bufsize sid="bufsize" type="int">2880</bufsize>
-          <samp sid="samp" type="int">3</samp>
-          <buffers sid="buffers" type="int">1</buffers>
-          <filtertype sid="filtertype" type="int">0</filtertype>
-          <bufflag sid="bufflag" type="int">0</bufflag>
-          <buftype sid="buftype" type="int">2</buftype>
-          <ray_samp sid="ray_samp" type="int">1</ray_samp>
-          <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
-          <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
-          <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
-          <area_shape sid="area_shape" type="int">1</area_shape>
-          <area_size sid="area_size" type="float">0.1</area_size>
-          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
-          <area_sizez sid="area_sizez" type="float">1</area_sizez>
-          <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
-          <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
-          <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
-          <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
-          <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
-          <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
-          <spread sid="spread" type="float">1</spread>
-          <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
-          <sun_size sid="sun_size" type="float">1</sun_size>
-          <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
-          <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
-          <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
-          <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
-          <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
-          <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
-          <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
-          <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
-        </technique>
-      </extra>
-    </light>
-    <light id="Light-light" name="Light">
-      <technique_common>
-        <point>
-          <color sid="color">1000 1000 1000</color>
-          <constant_attenuation>1</constant_attenuation>
-          <linear_attenuation>0</linear_attenuation>
-          <quadratic_attenuation>0.00111109</quadratic_attenuation>
-        </point>
-      </technique_common>
-      <extra>
-        <technique profile="blender">
-          <type sid="type" type="int">0</type>
-          <flag sid="flag" type="int">0</flag>
-          <mode sid="mode" type="int">1</mode>
-          <gamma sid="blender_gamma" type="float">1</gamma>
-          <red sid="red" type="float">1</red>
-          <green sid="green" type="float">1</green>
-          <blue sid="blue" type="float">1</blue>
-          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
-          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
-          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
-          <energy sid="blender_energy" type="float">1000</energy>
-          <dist sid="blender_dist" type="float">29.99998</dist>
-          <spotsize sid="spotsize" type="float">75</spotsize>
-          <spotblend sid="spotblend" type="float">0.15</spotblend>
-          <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
-          <att1 sid="att1" type="float">0</att1>
-          <att2 sid="att2" type="float">1</att2>
-          <falloff_type sid="falloff_type" type="int">2</falloff_type>
-          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
-          <clipend sid="clipend" type="float">30.002</clipend>
-          <bias sid="bias" type="float">1</bias>
-          <soft sid="soft" type="float">3</soft>
-          <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
-          <bufsize sid="bufsize" type="int">2880</bufsize>
-          <samp sid="samp" type="int">3</samp>
-          <buffers sid="buffers" type="int">1</buffers>
-          <filtertype sid="filtertype" type="int">0</filtertype>
-          <bufflag sid="bufflag" type="int">0</bufflag>
-          <buftype sid="buftype" type="int">2</buftype>
-          <ray_samp sid="ray_samp" type="int">1</ray_samp>
-          <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
-          <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
-          <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
-          <area_shape sid="area_shape" type="int">1</area_shape>
-          <area_size sid="area_size" type="float">0.1</area_size>
-          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
-          <area_sizez sid="area_sizez" type="float">1</area_sizez>
-          <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
-          <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
-          <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
-          <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
-          <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
-          <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
-          <spread sid="spread" type="float">1</spread>
-          <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
-          <sun_size sid="sun_size" type="float">1</sun_size>
-          <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
-          <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
-          <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
-          <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
-          <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
-          <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
-          <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
-          <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
-        </technique>
-      </extra>
-    </light>
-  </library_lights>
   <library_images>
     <image id="UR20_DIFF_8bit_2K_png" name="UR20_DIFF_8bit_2K_png">
       <init_from>UR20_DIFF_8bit_2K.png</init_from>
@@ -457,26 +211,6 @@
   <library_controllers/>
   <library_visual_scenes>
     <visual_scene id="Scene" name="Scene">
-      <node id="Point" name="Point" type="NODE">
-        <matrix sid="transform">1 0 0 0.03485537 0 1 0 -0.8024882 0 0 1 1.230019 0 0 0 1</matrix>
-        <instance_light url="#Point-light"/>
-      </node>
-      <node id="Light_001" name="Light_001" type="NODE">
-        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183913 1.005454 -0.05518914 0.6045247 0.7946724 5.903862 0 0 0 1</matrix>
-        <instance_light url="#Light_001-light"/>
-      </node>
-      <node id="Camera_001" name="Camera_001" type="NODE">
-        <matrix sid="transform">0.6859207 -0.3240134 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
-        <instance_camera url="#Camera_001-camera"/>
-      </node>
-      <node id="Camera" name="Camera" type="NODE">
-        <matrix sid="transform">0.6859207 -0.3240134 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
-        <instance_camera url="#Camera-camera"/>
-      </node>
-      <node id="Light" name="Light" 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="#Light-light"/>
-      </node>
       <node id="wrist-1-mesh_005" name="wrist-1-mesh_005" type="NODE">
         <matrix sid="transform">0.9999999 1.44044e-6 -3.31613e-7 0 -1.44044e-6 0.9999998 4.77668e-13 0 3.31613e-7 0 0.9999998 0 0 0 0 1</matrix>
         <instance_geometry url="#Cylinder_039-mesh" name="wrist-1-mesh_005">
diff --git a/meshes/ur20/visual/wrist2.dae b/meshes/ur20/visual/wrist2.dae
index 977ad91b..17d637a6 100644
--- a/meshes/ur20/visual/wrist2.dae
+++ b/meshes/ur20/visual/wrist2.dae
@@ -11,76 +11,6 @@
     <unit name="meter" meter="1"/>
     <up_axis>Z_UP</up_axis>
   </asset>
-  <library_lights>
-    <light id="Point-light" name="Point.000">
-      <technique_common>
-        <point>
-          <color sid="color">1 1 1</color>
-          <constant_attenuation>1</constant_attenuation>
-          <linear_attenuation>0</linear_attenuation>
-          <quadratic_attenuation>0.001599967</quadratic_attenuation>
-        </point>
-      </technique_common>
-      <extra>
-        <technique profile="blender">
-          <type sid="type" type="int">0</type>
-          <flag sid="flag" type="int">0</flag>
-          <mode sid="mode" type="int">1</mode>
-          <gamma sid="blender_gamma" type="float">1</gamma>
-          <red sid="red" type="float">1</red>
-          <green sid="green" type="float">1</green>
-          <blue sid="blue" type="float">1</blue>
-          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
-          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
-          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
-          <energy sid="blender_energy" type="float">1</energy>
-          <dist sid="blender_dist" type="float">25</dist>
-          <spotsize sid="spotsize" type="float">45</spotsize>
-          <spotblend sid="spotblend" type="float">0.15</spotblend>
-          <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
-          <att1 sid="att1" type="float">0</att1>
-          <att2 sid="att2" type="float">1</att2>
-          <falloff_type sid="falloff_type" type="int">2</falloff_type>
-          <clipsta sid="clipsta" type="float">0.5</clipsta>
-          <clipend sid="clipend" type="float">40</clipend>
-          <bias sid="bias" type="float">1</bias>
-          <soft sid="soft" type="float">3</soft>
-          <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
-          <bufsize sid="bufsize" type="int">512</bufsize>
-          <samp sid="samp" type="int">3</samp>
-          <buffers sid="buffers" type="int">1</buffers>
-          <filtertype sid="filtertype" type="int">0</filtertype>
-          <bufflag sid="bufflag" type="int">0</bufflag>
-          <buftype sid="buftype" type="int">2</buftype>
-          <ray_samp sid="ray_samp" type="int">1</ray_samp>
-          <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
-          <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
-          <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
-          <area_shape sid="area_shape" type="int">0</area_shape>
-          <area_size sid="area_size" type="float">0.1</area_size>
-          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
-          <area_sizez sid="area_sizez" type="float">0.1</area_sizez>
-          <adapt_thresh sid="adapt_thresh" type="float">9.99987e-4</adapt_thresh>
-          <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
-          <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
-          <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
-          <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
-          <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
-          <spread sid="spread" type="float">1</spread>
-          <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
-          <sun_size sid="sun_size" type="float">1</sun_size>
-          <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
-          <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
-          <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
-          <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
-          <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
-          <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
-          <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
-          <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
-        </technique>
-      </extra>
-    </light>
-  </library_lights>
   <library_images>
     <image id="UR20_DIFF_8bit_2K_png" name="UR20_DIFF_8bit_2K_png">
       <init_from>UR20_DIFF_8bit_2K.png</init_from>
@@ -228,10 +158,6 @@
   <library_controllers/>
   <library_visual_scenes>
     <visual_scene id="Scene" name="Scene">
-      <node id="Point" name="Point" type="NODE">
-        <matrix sid="transform">1 0 0 0.03485537 0 1 0 -0.8024882 0 0 1 1.230019 0 0 0 1</matrix>
-        <instance_light url="#Point-light"/>
-      </node>
       <node id="wrist-2-mesh_005" name="wrist-2-mesh_005" type="NODE">
         <matrix sid="transform">1 3.61596e-7 8.90118e-7 0 -3.61596e-7 0.9999999 -3.21863e-13 0 -8.90118e-7 0 0.9999999 0 0 0 0 1</matrix>
         <instance_geometry url="#Cylinder_006-mesh" name="wrist-2-mesh_005">
diff --git a/meshes/ur20/visual/wrist3.dae b/meshes/ur20/visual/wrist3.dae
index 452c050d..d43cee9e 100644
--- a/meshes/ur20/visual/wrist3.dae
+++ b/meshes/ur20/visual/wrist3.dae
@@ -11,755 +11,6 @@
     <unit name="meter" meter="1"/>
     <up_axis>Z_UP</up_axis>
   </asset>
-  <library_cameras>
-    <camera id="Camera_001-camera" name="Camera.001">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">39.59775</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <shiftx sid="shiftx" type="float">0</shiftx>
-          <shifty sid="shifty" type="float">0</shifty>
-          <YF_dofdist sid="YF_dofdist" type="float">0</YF_dofdist>
-        </technique>
-      </extra>
-    </camera>
-    <camera id="Camera-camera" name="Camera.002">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">39.59775</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <shiftx sid="shiftx" type="float">0</shiftx>
-          <shifty sid="shifty" type="float">0</shifty>
-          <YF_dofdist sid="YF_dofdist" type="float">0</YF_dofdist>
-        </technique>
-      </extra>
-    </camera>
-    <camera id="Camera_002-camera" name="Camera.003">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">39.59775</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <shiftx sid="shiftx" type="float">0</shiftx>
-          <shifty sid="shifty" type="float">0</shifty>
-          <YF_dofdist sid="YF_dofdist" type="float">0</YF_dofdist>
-        </technique>
-      </extra>
-    </camera>
-    <camera id="Camera_003-camera" name="Camera.004">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">49.13434</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <shiftx sid="shiftx" type="float">0</shiftx>
-          <shifty sid="shifty" type="float">0</shifty>
-          <YF_dofdist sid="YF_dofdist" type="float">0</YF_dofdist>
-        </technique>
-      </extra>
-    </camera>
-    <camera id="Camera_004-camera" name="Camera.005">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">39.59775</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <shiftx sid="shiftx" type="float">0</shiftx>
-          <shifty sid="shifty" type="float">0</shifty>
-          <YF_dofdist sid="YF_dofdist" type="float">0</YF_dofdist>
-        </technique>
-      </extra>
-    </camera>
-    <camera id="Camera_005-camera" name="Camera.006">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">49.13434</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <shiftx sid="shiftx" type="float">0</shiftx>
-          <shifty sid="shifty" type="float">0</shifty>
-          <YF_dofdist sid="YF_dofdist" type="float">0</YF_dofdist>
-        </technique>
-      </extra>
-    </camera>
-    <camera id="Camera_006-camera" name="Camera.007">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">39.59775</xfov>
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-            <zfar sid="zfar">100</zfar>
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-          <shifty sid="shifty" type="float">0</shifty>
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-          <green sid="green" type="float">1</green>
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-          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
-          <energy sid="blender_energy" type="float">1</energy>
-          <dist sid="blender_dist" type="float">25</dist>
-          <spotsize sid="spotsize" type="float">45</spotsize>
-          <spotblend sid="spotblend" type="float">0.15</spotblend>
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-          <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
-          <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
-          <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
-          <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
-          <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
-          <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
-          <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
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-        <point>
-          <color sid="color">1000 1000 1000</color>
-          <constant_attenuation>1</constant_attenuation>
-          <linear_attenuation>0</linear_attenuation>
-          <quadratic_attenuation>0.00111109</quadratic_attenuation>
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-          <gamma sid="blender_gamma" type="float">1</gamma>
-          <red sid="red" type="float">1</red>
-          <green sid="green" type="float">1</green>
-          <blue sid="blue" type="float">1</blue>
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-          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
-          <energy sid="blender_energy" type="float">1000</energy>
-          <dist sid="blender_dist" type="float">29.99998</dist>
-          <spotsize sid="spotsize" type="float">75</spotsize>
-          <spotblend sid="spotblend" type="float">0.15</spotblend>
-          <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
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-          <att2 sid="att2" type="float">1</att2>
-          <falloff_type sid="falloff_type" type="int">2</falloff_type>
-          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
-          <clipend sid="clipend" type="float">30.002</clipend>
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-          <bufsize sid="bufsize" type="int">2880</bufsize>
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-          <sun_size sid="sun_size" type="float">1</sun_size>
-          <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
-          <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
-          <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
-          <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
-          <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
-          <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
-          <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
-          <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
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-    </light>
-    <light id="Light-light" name="Light">
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-        <point>
-          <color sid="color">1000 1000 1000</color>
-          <constant_attenuation>1</constant_attenuation>
-          <linear_attenuation>0</linear_attenuation>
-          <quadratic_attenuation>0.00111109</quadratic_attenuation>
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-          <red sid="red" type="float">1</red>
-          <green sid="green" type="float">1</green>
-          <blue sid="blue" type="float">1</blue>
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-          <dist sid="blender_dist" type="float">29.99998</dist>
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-          <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
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-          <spread sid="spread" type="float">1</spread>
-          <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
-          <sun_size sid="sun_size" type="float">1</sun_size>
-          <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
-          <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
-          <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
-          <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
-          <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
-          <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
-          <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
-          <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
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-    <light id="Light_002-light" name="Light.002">
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-        <point>
-          <color sid="color">1000 1000 1000</color>
-          <constant_attenuation>1</constant_attenuation>
-          <linear_attenuation>0</linear_attenuation>
-          <quadratic_attenuation>0.00111109</quadratic_attenuation>
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-      <extra>
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-          <flag sid="flag" type="int">0</flag>
-          <mode sid="mode" type="int">1</mode>
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-          <red sid="red" type="float">1</red>
-          <green sid="green" type="float">1</green>
-          <blue sid="blue" type="float">1</blue>
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-          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
-          <energy sid="blender_energy" type="float">1000</energy>
-          <dist sid="blender_dist" type="float">29.99998</dist>
-          <spotsize sid="spotsize" type="float">75</spotsize>
-          <spotblend sid="spotblend" type="float">0.15</spotblend>
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-          <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
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-          <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
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-          <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
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-          <green sid="green" type="float">1</green>
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-          <dist sid="blender_dist" type="float">29.99998</dist>
-          <spotsize sid="spotsize" type="float">75</spotsize>
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-          <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
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-          <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
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-          <quadratic_attenuation>0.00111109</quadratic_attenuation>
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-          <blue sid="blue" type="float">1</blue>
-          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
-          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
-          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
-          <energy sid="blender_energy" type="float">1000</energy>
-          <dist sid="blender_dist" type="float">29.99998</dist>
-          <spotsize sid="spotsize" type="float">75</spotsize>
-          <spotblend sid="spotblend" type="float">0.15</spotblend>
-          <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
-          <att1 sid="att1" type="float">0</att1>
-          <att2 sid="att2" type="float">1</att2>
-          <falloff_type sid="falloff_type" type="int">2</falloff_type>
-          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
-          <clipend sid="clipend" type="float">30.002</clipend>
-          <bias sid="bias" type="float">1</bias>
-          <soft sid="soft" type="float">3</soft>
-          <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
-          <bufsize sid="bufsize" type="int">2880</bufsize>
-          <samp sid="samp" type="int">3</samp>
-          <buffers sid="buffers" type="int">1</buffers>
-          <filtertype sid="filtertype" type="int">0</filtertype>
-          <bufflag sid="bufflag" type="int">0</bufflag>
-          <buftype sid="buftype" type="int">2</buftype>
-          <ray_samp sid="ray_samp" type="int">1</ray_samp>
-          <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
-          <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
-          <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
-          <area_shape sid="area_shape" type="int">1</area_shape>
-          <area_size sid="area_size" type="float">0.1</area_size>
-          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
-          <area_sizez sid="area_sizez" type="float">1</area_sizez>
-          <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
-          <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
-          <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
-          <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
-          <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
-          <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
-          <spread sid="spread" type="float">1</spread>
-          <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
-          <sun_size sid="sun_size" type="float">1</sun_size>
-          <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
-          <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
-          <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
-          <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
-          <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
-          <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
-          <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
-          <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
-        </technique>
-      </extra>
-    </light>
-    <light id="Point_001-light" name="Point.002">
-      <technique_common>
-        <point>
-          <color sid="color">1 1 1</color>
-          <constant_attenuation>1</constant_attenuation>
-          <linear_attenuation>0</linear_attenuation>
-          <quadratic_attenuation>0.001599967</quadratic_attenuation>
-        </point>
-      </technique_common>
-      <extra>
-        <technique profile="blender">
-          <type sid="type" type="int">0</type>
-          <flag sid="flag" type="int">0</flag>
-          <mode sid="mode" type="int">1</mode>
-          <gamma sid="blender_gamma" type="float">1</gamma>
-          <red sid="red" type="float">1</red>
-          <green sid="green" type="float">1</green>
-          <blue sid="blue" type="float">1</blue>
-          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
-          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
-          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
-          <energy sid="blender_energy" type="float">1</energy>
-          <dist sid="blender_dist" type="float">25</dist>
-          <spotsize sid="spotsize" type="float">45</spotsize>
-          <spotblend sid="spotblend" type="float">0.15</spotblend>
-          <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
-          <att1 sid="att1" type="float">0</att1>
-          <att2 sid="att2" type="float">1</att2>
-          <falloff_type sid="falloff_type" type="int">2</falloff_type>
-          <clipsta sid="clipsta" type="float">0.5</clipsta>
-          <clipend sid="clipend" type="float">40</clipend>
-          <bias sid="bias" type="float">1</bias>
-          <soft sid="soft" type="float">3</soft>
-          <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
-          <bufsize sid="bufsize" type="int">512</bufsize>
-          <samp sid="samp" type="int">3</samp>
-          <buffers sid="buffers" type="int">1</buffers>
-          <filtertype sid="filtertype" type="int">0</filtertype>
-          <bufflag sid="bufflag" type="int">0</bufflag>
-          <buftype sid="buftype" type="int">2</buftype>
-          <ray_samp sid="ray_samp" type="int">1</ray_samp>
-          <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
-          <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
-          <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
-          <area_shape sid="area_shape" type="int">0</area_shape>
-          <area_size sid="area_size" type="float">0.1</area_size>
-          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
-          <area_sizez sid="area_sizez" type="float">0.1</area_sizez>
-          <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
-          <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
-          <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
-          <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
-          <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
-          <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
-          <spread sid="spread" type="float">1</spread>
-          <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
-          <sun_size sid="sun_size" type="float">1</sun_size>
-          <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
-          <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
-          <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
-          <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
-          <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
-          <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
-          <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
-          <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
-        </technique>
-      </extra>
-    </light>
-    <light id="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">
-          <type sid="type" type="int">0</type>
-          <flag sid="flag" type="int">0</flag>
-          <mode sid="mode" type="int">8192</mode>
-          <gamma sid="blender_gamma" type="float">1</gamma>
-          <red sid="red" type="float">1</red>
-          <green sid="green" type="float">1</green>
-          <blue sid="blue" type="float">1</blue>
-          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
-          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
-          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
-          <energy sid="blender_energy" type="float">1</energy>
-          <dist sid="blender_dist" type="float">29.99998</dist>
-          <spotsize sid="spotsize" type="float">75</spotsize>
-          <spotblend sid="spotblend" type="float">0.15</spotblend>
-          <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
-          <att1 sid="att1" type="float">0</att1>
-          <att2 sid="att2" type="float">1</att2>
-          <falloff_type sid="falloff_type" type="int">2</falloff_type>
-          <clipsta sid="clipsta" type="float">1.000799</clipsta>
-          <clipend sid="clipend" type="float">30.002</clipend>
-          <bias sid="bias" type="float">1</bias>
-          <soft sid="soft" type="float">3</soft>
-          <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
-          <bufsize sid="bufsize" type="int">2880</bufsize>
-          <samp sid="samp" type="int">3</samp>
-          <buffers sid="buffers" type="int">1</buffers>
-          <filtertype sid="filtertype" type="int">0</filtertype>
-          <bufflag sid="bufflag" type="int">0</bufflag>
-          <buftype sid="buftype" type="int">2</buftype>
-          <ray_samp sid="ray_samp" type="int">1</ray_samp>
-          <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
-          <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
-          <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
-          <area_shape sid="area_shape" type="int">1</area_shape>
-          <area_size sid="area_size" type="float">0.1</area_size>
-          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
-          <area_sizez sid="area_sizez" type="float">1</area_sizez>
-          <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
-          <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
-          <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
-          <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
-          <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
-          <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
-          <spread sid="spread" type="float">1</spread>
-          <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
-          <sun_size sid="sun_size" type="float">1</sun_size>
-          <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
-          <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
-          <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
-          <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
-          <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
-          <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
-          <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
-          <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
-        </technique>
-      </extra>
-    </light>
-    <light id="Light_004-light" name="Light.004">
-      <technique_common>
-        <point>
-          <color sid="color">1000 1000 1000</color>
-          <constant_attenuation>1</constant_attenuation>
-          <linear_attenuation>0</linear_attenuation>
-          <quadratic_attenuation>0.00111109</quadratic_attenuation>
-        </point>
-      </technique_common>
-      <extra>
-        <technique profile="blender">
-          <type sid="type" type="int">0</type>
-          <flag sid="flag" type="int">0</flag>
-          <mode sid="mode" type="int">1</mode>
-          <gamma sid="blender_gamma" type="float">1</gamma>
-          <red sid="red" type="float">1</red>
-          <green sid="green" type="float">1</green>
-          <blue sid="blue" type="float">1</blue>
-          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
-          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
-          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
-          <energy sid="blender_energy" type="float">1000</energy>
-          <dist sid="blender_dist" type="float">29.99998</dist>
-          <spotsize sid="spotsize" type="float">75</spotsize>
-          <spotblend sid="spotblend" type="float">0.15</spotblend>
-          <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
-          <att1 sid="att1" type="float">0</att1>
-          <att2 sid="att2" type="float">1</att2>
-          <falloff_type sid="falloff_type" type="int">2</falloff_type>
-          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
-          <clipend sid="clipend" type="float">30.002</clipend>
-          <bias sid="bias" type="float">1</bias>
-          <soft sid="soft" type="float">3</soft>
-          <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
-          <bufsize sid="bufsize" type="int">2880</bufsize>
-          <samp sid="samp" type="int">3</samp>
-          <buffers sid="buffers" type="int">1</buffers>
-          <filtertype sid="filtertype" type="int">0</filtertype>
-          <bufflag sid="bufflag" type="int">0</bufflag>
-          <buftype sid="buftype" type="int">2</buftype>
-          <ray_samp sid="ray_samp" type="int">1</ray_samp>
-          <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
-          <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
-          <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
-          <area_shape sid="area_shape" type="int">1</area_shape>
-          <area_size sid="area_size" type="float">0.1</area_size>
-          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
-          <area_sizez sid="area_sizez" type="float">1</area_sizez>
-          <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
-          <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
-          <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
-          <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
-          <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
-          <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
-          <spread sid="spread" type="float">1</spread>
-          <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
-          <sun_size sid="sun_size" type="float">1</sun_size>
-          <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
-          <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
-          <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
-          <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
-          <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
-          <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
-          <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
-          <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
-        </technique>
-      </extra>
-    </light>
-  </library_lights>
   <library_images>
     <image id="UR20_DIFF_8bit_2K_png" name="UR20_DIFF_8bit_2K_png">
       <init_from>UR20_DIFF_8bit_2K.png</init_from>
@@ -907,50 +158,6 @@
   <library_controllers/>
   <library_visual_scenes>
     <visual_scene id="Scene" name="Scene">
-      <node id="Point" name="Point" type="NODE">
-        <matrix sid="transform">1 0 0 0.03485537 0 1 0 -0.8024882 0 0 1 1.230019 0 0 0 1</matrix>
-        <instance_light url="#Point-light"/>
-      </node>
-      <node id="Light_001" name="Light_001" type="NODE">
-        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183913 1.005454 -0.05518914 0.6045247 0.7946724 5.903862 0 0 0 1</matrix>
-        <instance_light url="#Light_001-light"/>
-      </node>
-      <node id="Camera_001" name="Camera_001" type="NODE">
-        <matrix sid="transform">0.6859207 -0.3240134 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
-        <instance_camera url="#Camera_001-camera"/>
-      </node>
-      <node id="Camera" name="Camera" type="NODE">
-        <matrix sid="transform">0.6859207 -0.3240134 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
-        <instance_camera url="#Camera-camera"/>
-      </node>
-      <node id="Light" name="Light" 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="#Light-light"/>
-      </node>
-      <node id="Light_002" name="Light_002" type="NODE">
-        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183913 1.005454 -0.05518914 0.6045247 0.7946724 5.903862 0 0 0 1</matrix>
-        <instance_light url="#Light_002-light"/>
-      </node>
-      <node id="Camera_002" name="Camera_002" type="NODE">
-        <matrix sid="transform">0.6859207 -0.3240134 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
-        <instance_camera url="#Camera_002-camera"/>
-      </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" name="Lamp" type="NODE">
-        <matrix sid="transform">-0.2908647 -0.7711006 0.5663933 4.076245 0.9551711 -0.1998833 0.2183914 1.005454 -0.05518921 0.6045248 0.7946723 5.903862 0 0 0 1</matrix>
-        <instance_light url="#Lamp-light"/>
-      </node>
-      <node id="Camera_004" name="Camera_004" type="NODE">
-        <matrix sid="transform">0.6859207 -0.3240134 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
-        <instance_camera url="#Camera_004-camera"/>
-      </node>
-      <node id="Light_003" name="Light_003" 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="#Light_003-light"/>
-      </node>
       <node id="wrist-3-mesh_001" name="wrist-3-mesh_001" type="NODE">
         <matrix sid="transform">0.9999999 1.2358e-6 -3.83972e-7 0 -1.2358e-6 0.9999998 4.74513e-13 0 3.83972e-7 0 0.9999998 0 0 0 0 1</matrix>
         <instance_geometry url="#Cylinder_045-mesh" name="wrist-3-mesh_001">
@@ -975,26 +182,6 @@
           </bind_material>
         </instance_geometry>
       </node>
-      <node id="Point_001" name="Point_001" type="NODE">
-        <matrix sid="transform">1 0 0 -1.682518 0 1 0 1.191141 0 0 1 1.230019 0 0 0 1</matrix>
-        <instance_light url="#Point_001-light"/>
-      </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 0.2183913 1.005454 -0.05518914 0.6045247 0.7946724 5.903862 0 0 0 1</matrix>
-        <instance_light url="#Lamp_001-light"/>
-      </node>
-      <node id="Camera_005" name="Camera_005" 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_005-camera"/>
-      </node>
-      <node id="Camera_006" name="Camera_006" type="NODE">
-        <matrix sid="transform">0.6859207 -0.3240134 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
-        <instance_camera url="#Camera_006-camera"/>
-      </node>
-      <node id="Light_004" name="Light_004" 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="#Light_004-light"/>
-      </node>
     </visual_scene>
   </library_visual_scenes>
   <scene>

From 51f440cbbed8bbc6974072586b9c2e47706d2509 Mon Sep 17 00:00:00 2001
From: Felix Exner <feex@universal-robots.com>
Date: Tue, 21 Jan 2025 11:06:05 +0100
Subject: [PATCH 2/2] Remove cameras and lights for ur3, ur5, ur10

---
 meshes/ur10/visual/forearm.dae  | 194 -----------
 meshes/ur10/visual/shoulder.dae | 194 -----------
 meshes/ur10/visual/upperarm.dae | 597 --------------------------------
 meshes/ur10/visual/wrist1.dae   | 312 -----------------
 meshes/ur10/visual/wrist2.dae   |  99 ------
 meshes/ur10/visual/wrist3.dae   |  99 ------
 meshes/ur3/visual/base.dae      |  99 ------
 meshes/ur3/visual/forearm.dae   |  99 ------
 meshes/ur3/visual/shoulder.dae  |  99 ------
 meshes/ur3/visual/upperarm.dae  | 194 -----------
 meshes/ur3/visual/wrist1.dae    |  99 ------
 meshes/ur3/visual/wrist2.dae    |  99 ------
 meshes/ur5/visual/forearm.dae   |  99 ------
 meshes/ur5/visual/shoulder.dae  |  99 ------
 meshes/ur5/visual/upperarm.dae  |  99 ------
 meshes/ur5/visual/wrist1.dae    |  99 ------
 meshes/ur5/visual/wrist2.dae    |  99 ------
 meshes/ur5/visual/wrist3.dae    |  99 ------
 18 files changed, 2778 deletions(-)

diff --git a/meshes/ur10/visual/forearm.dae b/meshes/ur10/visual/forearm.dae
index 182a09c2..c038f83e 100644
--- a/meshes/ur10/visual/forearm.dae
+++ b/meshes/ur10/visual/forearm.dae
@@ -10,184 +10,6 @@
     <unit name="meter" meter="1"/>
     <up_axis>Z_UP</up_axis>
   </asset>
-  <library_cameras>
-    <camera id="Camera-camera" name="Camera">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">49.13434</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <YF_dofdist>0</YF_dofdist>
-          <shiftx>0</shiftx>
-          <shifty>0</shifty>
-        </technique>
-      </extra>
-    </camera>
-    <camera id="Camera_001-camera" name="Camera.001">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">49.13434</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <YF_dofdist>0</YF_dofdist>
-          <shiftx>0</shiftx>
-          <shifty>0</shifty>
-        </technique>
-      </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">
@@ -503,22 +325,6 @@
   <library_controllers/>
   <library_visual_scenes>
     <visual_scene id="Scene" name="Scene">
-      <node id="Camera" name="Camera" type="NODE">
-        <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/meshes/ur10/visual/shoulder.dae b/meshes/ur10/visual/shoulder.dae
index 91c6b48f..320c7ed4 100644
--- a/meshes/ur10/visual/shoulder.dae
+++ b/meshes/ur10/visual/shoulder.dae
@@ -10,184 +10,6 @@
     <unit name="meter" meter="1"/>
     <up_axis>Z_UP</up_axis>
   </asset>
-  <library_cameras>
-    <camera id="Camera-camera" name="Camera">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">49.13434</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <YF_dofdist>0</YF_dofdist>
-          <shiftx>0</shiftx>
-          <shifty>0</shifty>
-        </technique>
-      </extra>
-    </camera>
-    <camera id="Camera_001-camera" name="Camera.001">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">49.13434</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <YF_dofdist>0</YF_dofdist>
-          <shiftx>0</shiftx>
-          <shifty>0</shifty>
-        </technique>
-      </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">
@@ -385,22 +207,6 @@
   <library_controllers/>
   <library_visual_scenes>
     <visual_scene id="Scene" name="Scene">
-      <node id="Camera" name="Camera" type="NODE">
-        <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/meshes/ur10/visual/upperarm.dae b/meshes/ur10/visual/upperarm.dae
index 4dace0dc..180de8c3 100644
--- a/meshes/ur10/visual/upperarm.dae
+++ b/meshes/ur10/visual/upperarm.dae
@@ -10,551 +10,6 @@
     <unit name="meter" meter="1"/>
     <up_axis>Z_UP</up_axis>
   </asset>
-  <library_cameras>
-    <camera id="Camera-camera" name="Camera">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">49.13434</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <YF_dofdist>0</YF_dofdist>
-          <shiftx>0</shiftx>
-          <shifty>0</shifty>
-        </technique>
-      </extra>
-    </camera>
-    <camera id="Camera_001-camera" name="Camera.001">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">49.13434</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <YF_dofdist>0</YF_dofdist>
-          <shiftx>0</shiftx>
-          <shifty>0</shifty>
-        </technique>
-      </extra>
-    </camera>
-    <camera id="Camera_002-camera" name="Camera.002">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">49.13434</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <YF_dofdist>0</YF_dofdist>
-          <shiftx>0</shiftx>
-          <shifty>0</shifty>
-        </technique>
-      </extra>
-    </camera>
-    <camera id="Camera_001-camera" name="Camera.003">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">49.13434</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <YF_dofdist>0</YF_dofdist>
-          <shiftx>0</shiftx>
-          <shifty>0</shifty>
-        </technique>
-      </extra>
-    </camera>
-    <camera id="Camera_002-camera" name="Camera.004">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">49.13434</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <YF_dofdist>0</YF_dofdist>
-          <shiftx>0</shiftx>
-          <shifty>0</shifty>
-        </technique>
-      </extra>
-    </camera>
-    <camera id="Camera_003-camera" name="Camera.005">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">49.13434</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <YF_dofdist>0</YF_dofdist>
-          <shiftx>0</shiftx>
-          <shifty>0</shifty>
-        </technique>
-      </extra>
-    </camera>
-    <camera id="Camera_004-camera" name="Camera.006">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">49.13434</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <YF_dofdist>0</YF_dofdist>
-          <shiftx>0</shiftx>
-          <shifty>0</shifty>
-        </technique>
-      </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">
@@ -838,58 +293,6 @@
   <library_controllers/>
   <library_visual_scenes>
     <visual_scene id="Scene" name="Scene">
-      <node id="Camera" name="Camera" type="NODE">
-        <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"/>
-      </node>
-      <node id="Camera_001" name="Camera_001" 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_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/meshes/ur10/visual/wrist1.dae b/meshes/ur10/visual/wrist1.dae
index e3cc9470..bf240345 100644
--- a/meshes/ur10/visual/wrist1.dae
+++ b/meshes/ur10/visual/wrist1.dae
@@ -10,290 +10,6 @@
     <unit name="meter" meter="1"/>
     <up_axis>Z_UP</up_axis>
   </asset>
-  <library_cameras>
-    <camera id="Camera-camera" name="Camera">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">49.13434</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <YF_dofdist>0</YF_dofdist>
-          <shiftx>0</shiftx>
-          <shifty>0</shifty>
-        </technique>
-      </extra>
-    </camera>
-    <camera id="Camera_001-camera" name="Camera.001">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">49.13434</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <YF_dofdist>0</YF_dofdist>
-          <shiftx>0</shiftx>
-          <shifty>0</shifty>
-        </technique>
-      </extra>
-    </camera>
-    <camera id="Camera_002-camera" name="Camera.002">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">49.13434</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <YF_dofdist>0</YF_dofdist>
-          <shiftx>0</shiftx>
-          <shifty>0</shifty>
-        </technique>
-      </extra>
-    </camera>
-    <camera id="Camera_003-camera" name="Camera.003">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">49.13434</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <YF_dofdist>0</YF_dofdist>
-          <shiftx>0</shiftx>
-          <shifty>0</shifty>
-        </technique>
-      </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">
@@ -491,34 +207,6 @@
   <library_controllers/>
   <library_visual_scenes>
     <visual_scene id="Scene" name="Scene">
-      <node id="Camera" name="Camera" type="NODE">
-        <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="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"/>
-      </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/meshes/ur10/visual/wrist2.dae b/meshes/ur10/visual/wrist2.dae
index bd0e61ef..8bbba84d 100644
--- a/meshes/ur10/visual/wrist2.dae
+++ b/meshes/ur10/visual/wrist2.dae
@@ -10,97 +10,6 @@
     <unit name="meter" meter="1"/>
     <up_axis>Z_UP</up_axis>
   </asset>
-  <library_cameras>
-    <camera id="Camera-camera" name="Camera">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">49.13434</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <YF_dofdist>0</YF_dofdist>
-          <shiftx>0</shiftx>
-          <shifty>0</shifty>
-        </technique>
-      </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">
@@ -294,14 +203,6 @@
   <library_controllers/>
   <library_visual_scenes>
     <visual_scene id="Scene" name="Scene">
-      <node id="Camera" name="Camera" type="NODE">
-        <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/meshes/ur10/visual/wrist3.dae b/meshes/ur10/visual/wrist3.dae
index 0b6a10c9..606c1e9d 100644
--- a/meshes/ur10/visual/wrist3.dae
+++ b/meshes/ur10/visual/wrist3.dae
@@ -10,97 +10,6 @@
     <unit name="meter" meter="1"/>
     <up_axis>Z_UP</up_axis>
   </asset>
-  <library_cameras>
-    <camera id="Camera-camera" name="Camera">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">49.13434</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <YF_dofdist>0</YF_dofdist>
-          <shiftx>0</shiftx>
-          <shifty>0</shifty>
-        </technique>
-      </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">
@@ -288,14 +197,6 @@
   <library_controllers/>
   <library_visual_scenes>
     <visual_scene id="Scene" name="Scene">
-      <node id="Camera" name="Camera" type="NODE">
-        <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/meshes/ur3/visual/base.dae b/meshes/ur3/visual/base.dae
index 53dca97b..c08ef6dd 100644
--- a/meshes/ur3/visual/base.dae
+++ b/meshes/ur3/visual/base.dae
@@ -10,97 +10,6 @@
     <unit name="meter" meter="1"/>
     <up_axis>Z_UP</up_axis>
   </asset>
-  <library_cameras>
-    <camera id="Camera-camera" name="Camera">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">49.13434</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <YF_dofdist>0</YF_dofdist>
-          <shiftx>0</shiftx>
-          <shifty>0</shifty>
-        </technique>
-      </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">
@@ -206,14 +115,6 @@
   <library_controllers/>
   <library_visual_scenes>
     <visual_scene id="Scene" name="Scene">
-      <node id="Camera" name="Camera" type="NODE">
-        <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/meshes/ur3/visual/forearm.dae b/meshes/ur3/visual/forearm.dae
index 39147f8f..8c9fc00a 100644
--- a/meshes/ur3/visual/forearm.dae
+++ b/meshes/ur3/visual/forearm.dae
@@ -10,97 +10,6 @@
     <unit name="meter" meter="1"/>
     <up_axis>Z_UP</up_axis>
   </asset>
-  <library_cameras>
-    <camera id="Camera-camera" name="Camera">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">49.13434</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <YF_dofdist>0</YF_dofdist>
-          <shiftx>0</shiftx>
-          <shifty>0</shifty>
-        </technique>
-      </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">
@@ -390,14 +299,6 @@
   <library_controllers/>
   <library_visual_scenes>
     <visual_scene id="Scene" name="Scene">
-      <node id="Camera" name="Camera" type="NODE">
-        <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/meshes/ur3/visual/shoulder.dae b/meshes/ur3/visual/shoulder.dae
index 2a8d8af9..52657378 100644
--- a/meshes/ur3/visual/shoulder.dae
+++ b/meshes/ur3/visual/shoulder.dae
@@ -10,97 +10,6 @@
     <unit name="meter" meter="1"/>
     <up_axis>Z_UP</up_axis>
   </asset>
-  <library_cameras>
-    <camera id="Camera-camera" name="Camera">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">49.13434</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <YF_dofdist>0</YF_dofdist>
-          <shiftx>0</shiftx>
-          <shifty>0</shifty>
-        </technique>
-      </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">
@@ -394,14 +303,6 @@
   <library_controllers/>
   <library_visual_scenes>
     <visual_scene id="Scene" name="Scene">
-      <node id="Camera" name="Camera" type="NODE">
-        <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/meshes/ur3/visual/upperarm.dae b/meshes/ur3/visual/upperarm.dae
index 0216ca59..331b990a 100644
--- a/meshes/ur3/visual/upperarm.dae
+++ b/meshes/ur3/visual/upperarm.dae
@@ -10,184 +10,6 @@
     <unit name="meter" meter="1"/>
     <up_axis>Z_UP</up_axis>
   </asset>
-  <library_cameras>
-    <camera id="Camera-camera" name="Camera">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">49.13434</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <YF_dofdist>0</YF_dofdist>
-          <shiftx>0</shiftx>
-          <shifty>0</shifty>
-        </technique>
-      </extra>
-    </camera>
-    <camera id="Camera_001-camera" name="Camera.001">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">49.13434</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <YF_dofdist>0</YF_dofdist>
-          <shiftx>0</shiftx>
-          <shifty>0</shifty>
-        </technique>
-      </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">
@@ -641,22 +463,6 @@
   <library_controllers/>
   <library_visual_scenes>
     <visual_scene id="Scene" name="Scene">
-      <node id="Camera" name="Camera" type="NODE">
-        <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/meshes/ur3/visual/wrist1.dae b/meshes/ur3/visual/wrist1.dae
index bab3f312..7e897a82 100644
--- a/meshes/ur3/visual/wrist1.dae
+++ b/meshes/ur3/visual/wrist1.dae
@@ -10,97 +10,6 @@
     <unit name="meter" meter="1"/>
     <up_axis>Z_UP</up_axis>
   </asset>
-  <library_cameras>
-    <camera id="Camera-camera" name="Camera">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">49.13434</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <YF_dofdist>0</YF_dofdist>
-          <shiftx>0</shiftx>
-          <shifty>0</shifty>
-        </technique>
-      </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">
@@ -265,14 +174,6 @@
   <library_controllers/>
   <library_visual_scenes>
     <visual_scene id="Scene" name="Scene">
-      <node id="Camera" name="Camera" type="NODE">
-        <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/meshes/ur3/visual/wrist2.dae b/meshes/ur3/visual/wrist2.dae
index 28e67c6e..cda290ec 100644
--- a/meshes/ur3/visual/wrist2.dae
+++ b/meshes/ur3/visual/wrist2.dae
@@ -10,97 +10,6 @@
     <unit name="meter" meter="1"/>
     <up_axis>Z_UP</up_axis>
   </asset>
-  <library_cameras>
-    <camera id="Camera-camera" name="Camera">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">49.13434</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <YF_dofdist>0</YF_dofdist>
-          <shiftx>0</shiftx>
-          <shifty>0</shifty>
-        </technique>
-      </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">
@@ -265,14 +174,6 @@
   <library_controllers/>
   <library_visual_scenes>
     <visual_scene id="Scene" name="Scene">
-      <node id="Camera" name="Camera" type="NODE">
-        <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/meshes/ur5/visual/forearm.dae b/meshes/ur5/visual/forearm.dae
index 6c3bb2c6..920b3dfe 100644
--- a/meshes/ur5/visual/forearm.dae
+++ b/meshes/ur5/visual/forearm.dae
@@ -10,97 +10,6 @@
     <unit name="meter" meter="1"/>
     <up_axis>Z_UP</up_axis>
   </asset>
-  <library_cameras>
-    <camera id="Camera-camera" name="Camera">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">49.13434</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <YF_dofdist>0</YF_dofdist>
-          <shiftx>0</shiftx>
-          <shifty>0</shifty>
-        </technique>
-      </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">
@@ -326,14 +235,6 @@
   <library_controllers/>
   <library_visual_scenes>
     <visual_scene id="Scene" name="Scene">
-      <node id="Camera" name="Camera" type="NODE">
-        <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/meshes/ur5/visual/shoulder.dae b/meshes/ur5/visual/shoulder.dae
index a76c2642..325a7156 100644
--- a/meshes/ur5/visual/shoulder.dae
+++ b/meshes/ur5/visual/shoulder.dae
@@ -10,97 +10,6 @@
     <unit name="meter" meter="1"/>
     <up_axis>Z_UP</up_axis>
   </asset>
-  <library_cameras>
-    <camera id="Camera-camera" name="Camera">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">49.13434</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <YF_dofdist>0</YF_dofdist>
-          <shiftx>0</shiftx>
-          <shifty>0</shifty>
-        </technique>
-      </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">
@@ -267,14 +176,6 @@
   <library_controllers/>
   <library_visual_scenes>
     <visual_scene id="Scene" name="Scene">
-      <node id="Camera" name="Camera" type="NODE">
-        <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/meshes/ur5/visual/upperarm.dae b/meshes/ur5/visual/upperarm.dae
index 867152a3..852afbca 100644
--- a/meshes/ur5/visual/upperarm.dae
+++ b/meshes/ur5/visual/upperarm.dae
@@ -10,97 +10,6 @@
     <unit name="meter" meter="1"/>
     <up_axis>Z_UP</up_axis>
   </asset>
-  <library_cameras>
-    <camera id="Camera-camera" name="Camera">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">49.13434</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <YF_dofdist>0</YF_dofdist>
-          <shiftx>0</shiftx>
-          <shifty>0</shifty>
-        </technique>
-      </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">
@@ -397,14 +306,6 @@
   <library_controllers/>
   <library_visual_scenes>
     <visual_scene id="Scene" name="Scene">
-      <node id="Camera" name="Camera" type="NODE">
-        <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/meshes/ur5/visual/wrist1.dae b/meshes/ur5/visual/wrist1.dae
index 1d85d3c7..892ba632 100644
--- a/meshes/ur5/visual/wrist1.dae
+++ b/meshes/ur5/visual/wrist1.dae
@@ -10,97 +10,6 @@
     <unit name="meter" meter="1"/>
     <up_axis>Z_UP</up_axis>
   </asset>
-  <library_cameras>
-    <camera id="Camera-camera" name="Camera">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">49.13434</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <YF_dofdist>0</YF_dofdist>
-          <shiftx>0</shiftx>
-          <shifty>0</shifty>
-        </technique>
-      </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">
@@ -267,14 +176,6 @@
   <library_controllers/>
   <library_visual_scenes>
     <visual_scene id="Scene" name="Scene">
-      <node id="Camera" name="Camera" type="NODE">
-        <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"/>
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       <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/meshes/ur5/visual/wrist2.dae b/meshes/ur5/visual/wrist2.dae
index f56dde3e..bd32a7a3 100644
--- a/meshes/ur5/visual/wrist2.dae
+++ b/meshes/ur5/visual/wrist2.dae
@@ -10,97 +10,6 @@
     <unit name="meter" meter="1"/>
     <up_axis>Z_UP</up_axis>
   </asset>
-  <library_cameras>
-    <camera id="Camera-camera" name="Camera">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">49.13434</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <YF_dofdist>0</YF_dofdist>
-          <shiftx>0</shiftx>
-          <shifty>0</shifty>
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-    </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>
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-      <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>
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-          <clipsta>1.000799</clipsta>
-          <compressthresh>0.04999995</compressthresh>
-          <dist sid="blender_dist">29.99998</dist>
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-          <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>
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-          <ray_sampz>1</ray_sampz>
-          <red>1</red>
-          <samp>3</samp>
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-          <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>
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-  </library_lights>
   <library_images/>
   <library_effects>
     <effect id="Scheibe_002-effect">
@@ -267,14 +176,6 @@
   <library_controllers/>
   <library_visual_scenes>
     <visual_scene id="Scene" name="Scene">
-      <node id="Camera" name="Camera" type="NODE">
-        <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"/>
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-        <instance_light url="#Lamp-light"/>
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diff --git a/meshes/ur5/visual/wrist3.dae b/meshes/ur5/visual/wrist3.dae
index 09043d8a..9a2096da 100644
--- a/meshes/ur5/visual/wrist3.dae
+++ b/meshes/ur5/visual/wrist3.dae
@@ -10,97 +10,6 @@
     <unit name="meter" meter="1"/>
     <up_axis>Z_UP</up_axis>
   </asset>
-  <library_cameras>
-    <camera id="Camera-camera" name="Camera">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">49.13434</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
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-      <extra>
-        <technique profile="blender">
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-          <shiftx>0</shiftx>
-          <shifty>0</shifty>
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-  </library_cameras>
-  <library_lights>
-    <light id="Lamp-light" name="Lamp">
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-        <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">
@@ -206,14 +115,6 @@
   <library_controllers/>
   <library_visual_scenes>
     <visual_scene id="Scene" name="Scene">
-      <node id="Camera" name="Camera" type="NODE">
-        <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">