diff --git a/dataR/coman_flex_feet.mbs b/dataR/coman_flex_feet.mbs
index 0d602d7c3131005388fad9e72a8651cf7cedc98a..e9f2b683846015746ec89324aad757df99e1970c 100644
--- a/dataR/coman_flex_feet.mbs
+++ b/dataR/coman_flex_feet.mbs
@@ -465,56 +465,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_07_prt.obj</url>
             </inline>
-            <box>
-              <name>Waist_contact_visu_1</name>
-              <position>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.1</x>
-                <y>0.2</y>
-                <z>0.11</z>
-              </size>
-            </box>
-            <sphere>
-              <name>Waist_contact_visu_2</name>
-              <position>
-                <x>-0.05</x>
-                <y>0.0</y>
-                <z>0.1</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <radius>0.07</radius>
-            </sphere>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -912,33 +862,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_18_prt.obj</url>
             </inline>
-            <box>
-              <name>RThigh_contact_visu</name>
-              <position>
-                <x>0.003</x>
-                <y>0.005</y>
-                <z>0.01</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.1</x>
-                <y>0.1</y>
-                <z>0.26</z>
-              </size>
-            </box>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -1083,33 +1006,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_17_prt.obj</url>
             </inline>
-            <box>
-              <name>RLowLeg_contact_visu</name>
-              <position>
-                <x>0.0</x>
-                <y>0.005</y>
-                <z>-0.12</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.1</x>
-                <y>0.1</y>
-                <z>0.22</z>
-              </size>
-            </box>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -2095,33 +1991,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_04_prt.obj</url>
             </inline>
-            <box>
-              <name>LThigh_contact_visu</name>
-              <position>
-                <x>0.003</x>
-                <y>-0.005</y>
-                <z>0.01</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.1</x>
-                <y>0.1</y>
-                <z>0.26</z>
-              </size>
-            </box>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -2264,33 +2133,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_03_prt.obj</url>
             </inline>
-            <box>
-              <name>LLowLeg_contact_visu</name>
-              <position>
-                <x>0.0</x>
-                <y>-0.005</y>
-                <z>-0.12</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.1</x>
-                <y>0.1</y>
-                <z>0.22</z>
-              </size>
-            </box>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -3301,106 +3143,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/animationR/obj/IIT_files/torso_blue.obj</url>
             </inline>
-            <sphere>
-              <name>Torso_contact_visu_1</name>
-              <position>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>-0.05</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <radius>0.06</radius>
-            </sphere>
-            <box>
-              <name>Torso_contact_visu_2</name>
-              <position>
-                <x>-0.04</x>
-                <y>0.0</y>
-                <z>0.17</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.12</x>
-                <y>0.35</y>
-                <z>0.1</z>
-              </size>
-            </box>
-            <box>
-              <name>Torso_contact_visu_3</name>
-              <position>
-                <x>-0.05</x>
-                <y>0.0</y>
-                <z>0.13</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.19</x>
-                <y>0.18</y>
-                <z>0.2</z>
-              </size>
-            </box>
-            <sphere>
-              <name>Torso_contact_visu_4</name>
-              <position>
-                <x>-0.02</x>
-                <y>0.0</y>
-                <z>0.02</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <radius>0.07</radius>
-            </sphere>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -3799,33 +3541,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_22_prt.obj</url>
             </inline>
-            <box>
-              <name>Rhoulder_contact_visu</name>
-              <position>
-                <x>0.0</x>
-                <y>-0.015</y>
-                <z>-0.05</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.08</x>
-                <y>0.08</y>
-                <z>0.27</z>
-              </size>
-            </box>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -3950,56 +3665,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_21_prt.obj</url>
             </inline>
-            <box>
-              <name>RElbow_contact_visu</name>
-              <position>
-                <x>-0.02</x>
-                <y>-0.005</y>
-                <z>-0.13</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.032</x>
-                <y>0.032</y>
-                <z>0.16</z>
-              </size>
-            </box>
-            <sphere>
-              <name>RWrist_contact_visu</name>
-              <position>
-                <x>-0.02</x>
-                <y>-0.005</y>
-                <z>-0.208</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <radius>0.021</radius>
-            </sphere>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -4398,33 +4063,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_12_prt.obj</url>
             </inline>
-            <box>
-              <name>LSoulder_contact_visu</name>
-              <position>
-                <x>0.0</x>
-                <y>0.015</y>
-                <z>-0.05</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.08</x>
-                <y>0.08</y>
-                <z>0.27</z>
-              </size>
-            </box>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -4551,56 +4189,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_11_prt.obj</url>
             </inline>
-            <box>
-              <name>LElbow_contact_visu</name>
-              <position>
-                <x>0.005</x>
-                <y>0.005</y>
-                <z>-0.13</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.032</x>
-                <y>0.032</y>
-                <z>0.16</z>
-              </size>
-            </box>
-            <sphere>
-              <name>Lwrist_contact_visu</name>
-              <position>
-                <x>0.005</x>
-                <y>0.005</y>
-                <z>-0.208</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <radius>0.021</radius>
-            </sphere>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -4746,55 +4334,15 @@
     </viewpoints>
     <lights>
       <!--This is the light list-->
-      <spotLight>
-        <name>X_fwd</name>
-        <joint>FJ_T3_Coman</joint>
-        <color R="255" G="255" B="255" />
-        <ambient>0.05</ambient>
-        <depthXWidth>1024.0</depthXWidth>
-        <depthYWidth>1024.0</depthYWidth>
-        <depthNear>0.1</depthNear>
-        <depthFar>100.0</depthFar>
-        <shadowBias>0.0</shadowBias>
-        <zUpVector>
-          <x>0.0</x>
-          <y>0.0</y>
-          <z>1.0</z>
-        </zUpVector>
-        <active />
-        <position>
-          <x>-10.0</x>
-          <y>-10.0</y>
-          <z>0.0</z>
-        </position>
-        <attenuation>
-          <cst>1.5</cst>
-          <lin>0.0</lin>
-          <quad>0.0</quad>
-        </attenuation>
-        <depthFovRad>1.0</depthFovRad>
-        <shadowDirVector>
-          <x>0.0</x>
-          <y>-1.0</y>
-          <z>0.0</z>
-        </shadowDirVector>
-        <direction>
-          <x>1.0</x>
-          <y>1.0</y>
-          <z>0.0</z>
-        </direction>
-        <angle>3.1415927</angle>
-        <concentration>0.0</concentration>
-      </spotLight>
-      <spotLight>
-        <name>X_bwd</name>
+      <directionalLight>
+        <name>Light</name>
         <joint>FJ_T3_Coman</joint>
         <color R="255" G="255" B="255" />
         <ambient>0.05</ambient>
         <depthXWidth>1024.0</depthXWidth>
         <depthYWidth>1024.0</depthYWidth>
-        <depthNear>0.1</depthNear>
-        <depthFar>100.0</depthFar>
+        <depthNear>-10.0</depthNear>
+        <depthFar>20.0</depthFar>
         <shadowBias>0.0</shadowBias>
         <zUpVector>
           <x>0.0</x>
@@ -4802,70 +4350,18 @@
           <z>1.0</z>
         </zUpVector>
         <active />
-        <position>
-          <x>10.0</x>
-          <y>10.0</y>
-          <z>0.0</z>
-        </position>
-        <attenuation>
-          <cst>1.5</cst>
-          <lin>0.0</lin>
-          <quad>0.0</quad>
-        </attenuation>
-        <depthFovRad>1.0</depthFovRad>
-        <shadowDirVector>
-          <x>0.0</x>
-          <y>-1.0</y>
-          <z>0.0</z>
-        </shadowDirVector>
         <direction>
           <x>-1.0</x>
-          <y>-1.0</y>
-          <z>0.0</z>
+          <y>0.20000000298023224</y>
+          <z>-1.0</z>
         </direction>
-        <angle>3.1415927</angle>
-        <concentration>0.0</concentration>
-      </spotLight>
-      <spotLight>
-        <name>Z</name>
-        <joint>FJ_T3_Coman</joint>
-        <color R="255" G="255" B="255" />
-        <ambient>0.05</ambient>
-        <depthXWidth>1024.0</depthXWidth>
-        <depthYWidth>1024.0</depthYWidth>
-        <depthNear>0.1</depthNear>
-        <depthFar>100.0</depthFar>
-        <shadowBias>0.0</shadowBias>
-        <zUpVector>
+        <depthScale>0.0015</depthScale>
+        <relPointVector>
           <x>0.0</x>
           <y>0.0</y>
-          <z>1.0</z>
-        </zUpVector>
-        <active />
-        <position>
-          <x>0.0</x>
-          <y>0.0</y>
-          <z>10.0</z>
-        </position>
-        <attenuation>
-          <cst>1.2000000476837158</cst>
-          <lin>0.0</lin>
-          <quad>0.0</quad>
-        </attenuation>
-        <depthFovRad>1.0</depthFovRad>
-        <shadowDirVector>
-          <x>0.0</x>
-          <y>-1.0</y>
           <z>0.0</z>
-        </shadowDirVector>
-        <direction>
-          <x>0.0</x>
-          <y>0.0</y>
-          <z>-1.0</z>
-        </direction>
-        <angle>3.1415927</angle>
-        <concentration>0.0</concentration>
-      </spotLight>
+        </relPointVector>
+      </directionalLight>
     </lights>
   </x3D>
 </mbsDescR7>
diff --git a/dataR/coman_init_feet.mbs b/dataR/coman_init_feet.mbs
index 3622906649501c5cfe7e6f7130f5c2b1c5f5694e..7a48040a80b390ec9b96fd4c2314eac3cdb5e89e 100644
--- a/dataR/coman_init_feet.mbs
+++ b/dataR/coman_init_feet.mbs
@@ -465,56 +465,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_07_prt.obj</url>
             </inline>
-            <box>
-              <name>Waist_contact_visu_1</name>
-              <position>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.1</x>
-                <y>0.2</y>
-                <z>0.11</z>
-              </size>
-            </box>
-            <sphere>
-              <name>Waist_contact_visu_2</name>
-              <position>
-                <x>-0.05</x>
-                <y>0.0</y>
-                <z>0.1</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <radius>0.07</radius>
-            </sphere>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -912,33 +862,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_18_prt.obj</url>
             </inline>
-            <box>
-              <name>RThigh_contact_visu</name>
-              <position>
-                <x>0.003</x>
-                <y>0.005</y>
-                <z>0.01</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.1</x>
-                <y>0.1</y>
-                <z>0.26</z>
-              </size>
-            </box>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -1083,33 +1006,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_17_prt.obj</url>
             </inline>
-            <box>
-              <name>RLowLeg_contact_visu</name>
-              <position>
-                <x>0.0</x>
-                <y>0.005</y>
-                <z>-0.12</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.1</x>
-                <y>0.1</y>
-                <z>0.22</z>
-              </size>
-            </box>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -1837,33 +1733,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_04_prt.obj</url>
             </inline>
-            <box>
-              <name>LThigh_contact_visu</name>
-              <position>
-                <x>0.003</x>
-                <y>-0.005</y>
-                <z>0.01</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.1</x>
-                <y>0.1</y>
-                <z>0.26</z>
-              </size>
-            </box>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -2006,33 +1875,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_03_prt.obj</url>
             </inline>
-            <box>
-              <name>LLowLeg_contact_visu</name>
-              <position>
-                <x>0.0</x>
-                <y>-0.005</y>
-                <z>-0.12</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.1</x>
-                <y>0.1</y>
-                <z>0.22</z>
-              </size>
-            </box>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -2785,106 +2627,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/animationR/obj/IIT_files/torso_blue.obj</url>
             </inline>
-            <sphere>
-              <name>Torso_contact_visu_1</name>
-              <position>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>-0.05</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <radius>0.06</radius>
-            </sphere>
-            <box>
-              <name>Torso_contact_visu_2</name>
-              <position>
-                <x>-0.04</x>
-                <y>0.0</y>
-                <z>0.17</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.12</x>
-                <y>0.35</y>
-                <z>0.1</z>
-              </size>
-            </box>
-            <box>
-              <name>Torso_contact_visu_3</name>
-              <position>
-                <x>-0.05</x>
-                <y>0.0</y>
-                <z>0.13</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.19</x>
-                <y>0.18</y>
-                <z>0.2</z>
-              </size>
-            </box>
-            <sphere>
-              <name>Torso_contact_visu_4</name>
-              <position>
-                <x>-0.02</x>
-                <y>0.0</y>
-                <z>0.02</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <radius>0.07</radius>
-            </sphere>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -3283,33 +3025,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_22_prt.obj</url>
             </inline>
-            <box>
-              <name>Rhoulder_contact_visu</name>
-              <position>
-                <x>-0.02</x>
-                <y>-0.015</y>
-                <z>-0.05</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.08</x>
-                <y>0.08</y>
-                <z>0.27</z>
-              </size>
-            </box>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -3434,56 +3149,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_21_prt.obj</url>
             </inline>
-            <box>
-              <name>RElbow_contact_visu</name>
-              <position>
-                <x>-0.02</x>
-                <y>-0.005</y>
-                <z>-0.13</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.032</x>
-                <y>0.032</y>
-                <z>0.16</z>
-              </size>
-            </box>
-            <sphere>
-              <name>RWrist_contact_visu</name>
-              <position>
-                <x>-0.02</x>
-                <y>-0.005</y>
-                <z>-0.208</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <radius>0.021</radius>
-            </sphere>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -3882,33 +3547,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_12_prt.obj</url>
             </inline>
-            <box>
-              <name>LSoulder_contact_visu</name>
-              <position>
-                <x>-0.02</x>
-                <y>0.015</y>
-                <z>-0.05</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.08</x>
-                <y>0.08</y>
-                <z>0.27</z>
-              </size>
-            </box>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -4035,56 +3673,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_11_prt.obj</url>
             </inline>
-            <box>
-              <name>LElbow_contact_visu</name>
-              <position>
-                <x>-0.015</x>
-                <y>0.005</y>
-                <z>-0.13</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.032</x>
-                <y>0.032</y>
-                <z>0.16</z>
-              </size>
-            </box>
-            <sphere>
-              <name>Lwrist_contact_visu</name>
-              <position>
-                <x>-0.015</x>
-                <y>0.005</y>
-                <z>-0.208</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <radius>0.021</radius>
-            </sphere>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -4171,55 +3759,15 @@
     </viewpoints>
     <lights>
       <!--This is the light list-->
-      <spotLight>
-        <name>X_fwd</name>
-        <joint>FJ_T3_Coman</joint>
-        <color R="255" G="255" B="255" />
-        <ambient>0.05</ambient>
-        <depthXWidth>1024.0</depthXWidth>
-        <depthYWidth>1024.0</depthYWidth>
-        <depthNear>0.1</depthNear>
-        <depthFar>100.0</depthFar>
-        <shadowBias>0.0</shadowBias>
-        <zUpVector>
-          <x>0.0</x>
-          <y>0.0</y>
-          <z>1.0</z>
-        </zUpVector>
-        <active />
-        <position>
-          <x>-10.0</x>
-          <y>-10.0</y>
-          <z>0.0</z>
-        </position>
-        <attenuation>
-          <cst>1.5</cst>
-          <lin>0.0</lin>
-          <quad>0.0</quad>
-        </attenuation>
-        <depthFovRad>1.0</depthFovRad>
-        <shadowDirVector>
-          <x>0.0</x>
-          <y>-1.0</y>
-          <z>0.0</z>
-        </shadowDirVector>
-        <direction>
-          <x>1.0</x>
-          <y>1.0</y>
-          <z>0.0</z>
-        </direction>
-        <angle>3.1415927</angle>
-        <concentration>0.0</concentration>
-      </spotLight>
-      <spotLight>
-        <name>X_bwd</name>
+      <directionalLight>
+        <name>Light</name>
         <joint>FJ_T3_Coman</joint>
         <color R="255" G="255" B="255" />
         <ambient>0.05</ambient>
         <depthXWidth>1024.0</depthXWidth>
         <depthYWidth>1024.0</depthYWidth>
-        <depthNear>0.1</depthNear>
-        <depthFar>100.0</depthFar>
+        <depthNear>-10.0</depthNear>
+        <depthFar>20.0</depthFar>
         <shadowBias>0.0</shadowBias>
         <zUpVector>
           <x>0.0</x>
@@ -4227,70 +3775,18 @@
           <z>1.0</z>
         </zUpVector>
         <active />
-        <position>
-          <x>10.0</x>
-          <y>10.0</y>
-          <z>0.0</z>
-        </position>
-        <attenuation>
-          <cst>1.5</cst>
-          <lin>0.0</lin>
-          <quad>0.0</quad>
-        </attenuation>
-        <depthFovRad>1.0</depthFovRad>
-        <shadowDirVector>
-          <x>0.0</x>
-          <y>-1.0</y>
-          <z>0.0</z>
-        </shadowDirVector>
         <direction>
           <x>-1.0</x>
-          <y>-1.0</y>
-          <z>0.0</z>
+          <y>0.20000000298023224</y>
+          <z>-1.0</z>
         </direction>
-        <angle>3.1415927</angle>
-        <concentration>0.0</concentration>
-      </spotLight>
-      <spotLight>
-        <name>Z</name>
-        <joint>FJ_T3_Coman</joint>
-        <color R="255" G="255" B="255" />
-        <ambient>0.05</ambient>
-        <depthXWidth>1024.0</depthXWidth>
-        <depthYWidth>1024.0</depthYWidth>
-        <depthNear>0.1</depthNear>
-        <depthFar>100.0</depthFar>
-        <shadowBias>0.0</shadowBias>
-        <zUpVector>
+        <depthScale>0.0015</depthScale>
+        <relPointVector>
           <x>0.0</x>
           <y>0.0</y>
-          <z>1.0</z>
-        </zUpVector>
-        <active />
-        <position>
-          <x>0.0</x>
-          <y>0.0</y>
-          <z>10.0</z>
-        </position>
-        <attenuation>
-          <cst>1.2000000476837158</cst>
-          <lin>0.0</lin>
-          <quad>0.0</quad>
-        </attenuation>
-        <depthFovRad>1.0</depthFovRad>
-        <shadowDirVector>
-          <x>0.0</x>
-          <y>-1.0</y>
           <z>0.0</z>
-        </shadowDirVector>
-        <direction>
-          <x>0.0</x>
-          <y>0.0</y>
-          <z>-1.0</z>
-        </direction>
-        <angle>3.1415927</angle>
-        <concentration>0.0</concentration>
-      </spotLight>
+        </relPointVector>
+      </directionalLight>
     </lights>
   </x3D>
 </mbsDescR7>
diff --git a/dataR/coman_long_feet.mbs b/dataR/coman_long_feet.mbs
index 5270df2fda243226e64e1fe10d72aafa4f721995..287a60aa69ca964e57f26752054a8df34ce356d0 100644
--- a/dataR/coman_long_feet.mbs
+++ b/dataR/coman_long_feet.mbs
@@ -465,56 +465,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_07_prt.obj</url>
             </inline>
-            <box>
-              <name>Waist_contact_visu_1</name>
-              <position>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.1</x>
-                <y>0.2</y>
-                <z>0.11</z>
-              </size>
-            </box>
-            <sphere>
-              <name>Waist_contact_visu_2</name>
-              <position>
-                <x>-0.05</x>
-                <y>0.0</y>
-                <z>0.1</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <radius>0.07</radius>
-            </sphere>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -912,33 +862,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_18_prt.obj</url>
             </inline>
-            <box>
-              <name>RThigh_contact_visu</name>
-              <position>
-                <x>0.003</x>
-                <y>0.005</y>
-                <z>0.01</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.1</x>
-                <y>0.1</y>
-                <z>0.26</z>
-              </size>
-            </box>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -1083,33 +1006,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_17_prt.obj</url>
             </inline>
-            <box>
-              <name>RLowLeg_contact_visu</name>
-              <position>
-                <x>0.0</x>
-                <y>0.005</y>
-                <z>-0.12</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.1</x>
-                <y>0.1</y>
-                <z>0.22</z>
-              </size>
-            </box>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -1839,33 +1735,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_04_prt.obj</url>
             </inline>
-            <box>
-              <name>LThigh_contact_visu</name>
-              <position>
-                <x>0.003</x>
-                <y>-0.005</y>
-                <z>0.01</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.1</x>
-                <y>0.1</y>
-                <z>0.26</z>
-              </size>
-            </box>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -2008,33 +1877,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_03_prt.obj</url>
             </inline>
-            <box>
-              <name>LLowLeg_contact_visu</name>
-              <position>
-                <x>0.0</x>
-                <y>-0.005</y>
-                <z>-0.12</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.1</x>
-                <y>0.1</y>
-                <z>0.22</z>
-              </size>
-            </box>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -2789,106 +2631,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/animationR/obj/IIT_files/torso_blue.obj</url>
             </inline>
-            <sphere>
-              <name>Torso_contact_visu_1</name>
-              <position>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>-0.05</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <radius>0.06</radius>
-            </sphere>
-            <box>
-              <name>Torso_contact_visu_2</name>
-              <position>
-                <x>-0.04</x>
-                <y>0.0</y>
-                <z>0.17</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.12</x>
-                <y>0.35</y>
-                <z>0.1</z>
-              </size>
-            </box>
-            <box>
-              <name>Torso_contact_visu_3</name>
-              <position>
-                <x>-0.05</x>
-                <y>0.0</y>
-                <z>0.13</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.19</x>
-                <y>0.18</y>
-                <z>0.2</z>
-              </size>
-            </box>
-            <sphere>
-              <name>Torso_contact_visu_4</name>
-              <position>
-                <x>-0.02</x>
-                <y>0.0</y>
-                <z>0.02</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <radius>0.07</radius>
-            </sphere>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -3287,33 +3029,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_22_prt.obj</url>
             </inline>
-            <box>
-              <name>Rhoulder_contact_visu</name>
-              <position>
-                <x>0.0</x>
-                <y>-0.015</y>
-                <z>-0.05</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.08</x>
-                <y>0.08</y>
-                <z>0.27</z>
-              </size>
-            </box>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -3438,56 +3153,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_21_prt.obj</url>
             </inline>
-            <box>
-              <name>RElbow_contact_visu</name>
-              <position>
-                <x>0.0</x>
-                <y>-0.005</y>
-                <z>-0.13</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.032</x>
-                <y>0.032</y>
-                <z>0.16</z>
-              </size>
-            </box>
-            <sphere>
-              <name>RWrist_contact_visu</name>
-              <position>
-                <x>0.0</x>
-                <y>-0.005</y>
-                <z>-0.208</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <radius>0.021</radius>
-            </sphere>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -3886,33 +3551,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_12_prt.obj</url>
             </inline>
-            <box>
-              <name>LSoulder_contact_visu</name>
-              <position>
-                <x>0.0</x>
-                <y>0.015</y>
-                <z>-0.05</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.08</x>
-                <y>0.08</y>
-                <z>0.27</z>
-              </size>
-            </box>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -4039,56 +3677,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_11_prt.obj</url>
             </inline>
-            <box>
-              <name>LElbow_contact_visu</name>
-              <position>
-                <x>0.005</x>
-                <y>0.005</y>
-                <z>-0.13</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.032</x>
-                <y>0.032</y>
-                <z>0.16</z>
-              </size>
-            </box>
-            <sphere>
-              <name>Lwrist_contact_visu</name>
-              <position>
-                <x>0.005</x>
-                <y>0.005</y>
-                <z>-0.208</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <radius>0.021</radius>
-            </sphere>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -4175,15 +3763,15 @@
     </viewpoints>
     <lights>
       <!--This is the light list-->
-      <spotLight>
-        <name>X_fwd</name>
+      <directionalLight>
+        <name>Light</name>
         <joint>FJ_T3_Coman</joint>
         <color R="255" G="255" B="255" />
         <ambient>0.05</ambient>
         <depthXWidth>1024.0</depthXWidth>
         <depthYWidth>1024.0</depthYWidth>
-        <depthNear>0.1</depthNear>
-        <depthFar>100.0</depthFar>
+        <depthNear>-10.0</depthNear>
+        <depthFar>20.0</depthFar>
         <shadowBias>0.0</shadowBias>
         <zUpVector>
           <x>0.0</x>
@@ -4191,110 +3779,18 @@
           <z>1.0</z>
         </zUpVector>
         <active />
-        <position>
-          <x>-10.0</x>
-          <y>-10.0</y>
-          <z>0.0</z>
-        </position>
-        <attenuation>
-          <cst>1.5</cst>
-          <lin>0.0</lin>
-          <quad>0.0</quad>
-        </attenuation>
-        <depthFovRad>1.0</depthFovRad>
-        <shadowDirVector>
-          <x>0.0</x>
-          <y>-1.0</y>
-          <z>0.0</z>
-        </shadowDirVector>
-        <direction>
-          <x>1.0</x>
-          <y>1.0</y>
-          <z>0.0</z>
-        </direction>
-        <angle>3.1415927</angle>
-        <concentration>0.0</concentration>
-      </spotLight>
-      <spotLight>
-        <name>X_bwd</name>
-        <joint>FJ_T3_Coman</joint>
-        <color R="255" G="255" B="255" />
-        <ambient>0.05</ambient>
-        <depthXWidth>1024.0</depthXWidth>
-        <depthYWidth>1024.0</depthYWidth>
-        <depthNear>0.1</depthNear>
-        <depthFar>100.0</depthFar>
-        <shadowBias>0.0</shadowBias>
-        <zUpVector>
-          <x>0.0</x>
-          <y>0.0</y>
-          <z>1.0</z>
-        </zUpVector>
-        <active />
-        <position>
-          <x>10.0</x>
-          <y>10.0</y>
-          <z>0.0</z>
-        </position>
-        <attenuation>
-          <cst>1.5</cst>
-          <lin>0.0</lin>
-          <quad>0.0</quad>
-        </attenuation>
-        <depthFovRad>1.0</depthFovRad>
-        <shadowDirVector>
-          <x>0.0</x>
-          <y>-1.0</y>
-          <z>0.0</z>
-        </shadowDirVector>
         <direction>
           <x>-1.0</x>
-          <y>-1.0</y>
-          <z>0.0</z>
+          <y>0.20000000298023224</y>
+          <z>-1.0</z>
         </direction>
-        <angle>3.1415927</angle>
-        <concentration>0.0</concentration>
-      </spotLight>
-      <spotLight>
-        <name>Z</name>
-        <joint>FJ_T3_Coman</joint>
-        <color R="255" G="255" B="255" />
-        <ambient>0.05</ambient>
-        <depthXWidth>1024.0</depthXWidth>
-        <depthYWidth>1024.0</depthYWidth>
-        <depthNear>0.1</depthNear>
-        <depthFar>100.0</depthFar>
-        <shadowBias>0.0</shadowBias>
-        <zUpVector>
+        <depthScale>0.0015</depthScale>
+        <relPointVector>
           <x>0.0</x>
           <y>0.0</y>
-          <z>1.0</z>
-        </zUpVector>
-        <active />
-        <position>
-          <x>0.0</x>
-          <y>0.0</y>
-          <z>10.0</z>
-        </position>
-        <attenuation>
-          <cst>1.2000000476837158</cst>
-          <lin>0.0</lin>
-          <quad>0.0</quad>
-        </attenuation>
-        <depthFovRad>1.0</depthFovRad>
-        <shadowDirVector>
-          <x>0.0</x>
-          <y>-1.0</y>
           <z>0.0</z>
-        </shadowDirVector>
-        <direction>
-          <x>0.0</x>
-          <y>0.0</y>
-          <z>-1.0</z>
-        </direction>
-        <angle>3.1415927</angle>
-        <concentration>0.0</concentration>
-      </spotLight>
+        </relPointVector>
+      </directionalLight>
     </lights>
   </x3D>
 </mbsDescR7>
diff --git a/dataR/coman_short_feet.mbs b/dataR/coman_short_feet.mbs
index 5575d5d21844711c616a8e02f2919fb7eaa4dd6c..e6870880b40dc4e5199c34d97f2b4080cbed271d 100644
--- a/dataR/coman_short_feet.mbs
+++ b/dataR/coman_short_feet.mbs
@@ -465,56 +465,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_07_prt.obj</url>
             </inline>
-            <box>
-              <name>Waist_contact_visu_1</name>
-              <position>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.1</x>
-                <y>0.2</y>
-                <z>0.11</z>
-              </size>
-            </box>
-            <sphere>
-              <name>Waist_contact_visu_2</name>
-              <position>
-                <x>-0.05</x>
-                <y>0.0</y>
-                <z>0.1</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <radius>0.07</radius>
-            </sphere>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -912,33 +862,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_18_prt.obj</url>
             </inline>
-            <box>
-              <name>RThigh_contact_visu</name>
-              <position>
-                <x>0.003</x>
-                <y>0.005</y>
-                <z>0.01</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.1</x>
-                <y>0.1</y>
-                <z>0.26</z>
-              </size>
-            </box>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -1083,33 +1006,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_17_prt.obj</url>
             </inline>
-            <box>
-              <name>RLowLeg_contact_visu</name>
-              <position>
-                <x>0.0</x>
-                <y>0.005</y>
-                <z>-0.12</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.1</x>
-                <y>0.1</y>
-                <z>0.22</z>
-              </size>
-            </box>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -1835,33 +1731,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_04_prt.obj</url>
             </inline>
-            <box>
-              <name>LThigh_contact_visu</name>
-              <position>
-                <x>0.003</x>
-                <y>-0.005</y>
-                <z>0.01</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.1</x>
-                <y>0.1</y>
-                <z>0.26</z>
-              </size>
-            </box>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -2004,33 +1873,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_03_prt.obj</url>
             </inline>
-            <box>
-              <name>LLowLeg_contact_visu</name>
-              <position>
-                <x>0.0</x>
-                <y>-0.005</y>
-                <z>-0.12</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.1</x>
-                <y>0.1</y>
-                <z>0.22</z>
-              </size>
-            </box>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -2781,106 +2623,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/animationR/obj/IIT_files/torso_blue.obj</url>
             </inline>
-            <sphere>
-              <name>Torso_contact_visu_1</name>
-              <position>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>-0.05</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <radius>0.06</radius>
-            </sphere>
-            <box>
-              <name>Torso_contact_visu_2</name>
-              <position>
-                <x>-0.04</x>
-                <y>0.0</y>
-                <z>0.17</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.12</x>
-                <y>0.35</y>
-                <z>0.1</z>
-              </size>
-            </box>
-            <box>
-              <name>Torso_contact_visu_3</name>
-              <position>
-                <x>-0.05</x>
-                <y>0.0</y>
-                <z>0.13</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.19</x>
-                <y>0.18</y>
-                <z>0.2</z>
-              </size>
-            </box>
-            <sphere>
-              <name>Torso_contact_visu_4</name>
-              <position>
-                <x>-0.02</x>
-                <y>0.0</y>
-                <z>0.02</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <radius>0.07</radius>
-            </sphere>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -3279,33 +3021,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_22_prt.obj</url>
             </inline>
-            <box>
-              <name>Rhoulder_contact_visu</name>
-              <position>
-                <x>0.0</x>
-                <y>-0.015</y>
-                <z>-0.05</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.08</x>
-                <y>0.08</y>
-                <z>0.27</z>
-              </size>
-            </box>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -3430,56 +3145,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_21_prt.obj</url>
             </inline>
-            <box>
-              <name>RElbow_contact_visu</name>
-              <position>
-                <x>-0.0</x>
-                <y>-0.005</y>
-                <z>-0.13</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.032</x>
-                <y>0.032</y>
-                <z>0.16</z>
-              </size>
-            </box>
-            <sphere>
-              <name>RWrist_contact_visu</name>
-              <position>
-                <x>0.0</x>
-                <y>-0.005</y>
-                <z>-0.208</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <radius>0.021</radius>
-            </sphere>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -3878,33 +3543,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_12_prt.obj</url>
             </inline>
-            <box>
-              <name>LSoulder_contact_visu</name>
-              <position>
-                <x>0.0</x>
-                <y>0.015</y>
-                <z>-0.05</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.08</x>
-                <y>0.08</y>
-                <z>0.27</z>
-              </size>
-            </box>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -4031,56 +3669,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_11_prt.obj</url>
             </inline>
-            <box>
-              <name>LElbow_contact_visu</name>
-              <position>
-                <x>0.005</x>
-                <y>0.005</y>
-                <z>-0.13</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.032</x>
-                <y>0.032</y>
-                <z>0.16</z>
-              </size>
-            </box>
-            <sphere>
-              <name>Lwrist_contact_visu</name>
-              <position>
-                <x>0.005</x>
-                <y>0.005</y>
-                <z>-0.208</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <radius>0.021</radius>
-            </sphere>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -4167,55 +3755,15 @@
     </viewpoints>
     <lights>
       <!--This is the light list-->
-      <spotLight>
-        <name>X_fwd</name>
-        <joint>FJ_T3_Coman</joint>
-        <color R="255" G="255" B="255" />
-        <ambient>0.05</ambient>
-        <depthXWidth>1024.0</depthXWidth>
-        <depthYWidth>1024.0</depthYWidth>
-        <depthNear>0.1</depthNear>
-        <depthFar>100.0</depthFar>
-        <shadowBias>0.0</shadowBias>
-        <zUpVector>
-          <x>0.0</x>
-          <y>0.0</y>
-          <z>1.0</z>
-        </zUpVector>
-        <active />
-        <position>
-          <x>-10.0</x>
-          <y>-10.0</y>
-          <z>0.0</z>
-        </position>
-        <attenuation>
-          <cst>1.5</cst>
-          <lin>0.0</lin>
-          <quad>0.0</quad>
-        </attenuation>
-        <depthFovRad>1.0</depthFovRad>
-        <shadowDirVector>
-          <x>0.0</x>
-          <y>-1.0</y>
-          <z>0.0</z>
-        </shadowDirVector>
-        <direction>
-          <x>1.0</x>
-          <y>1.0</y>
-          <z>0.0</z>
-        </direction>
-        <angle>3.1415927</angle>
-        <concentration>0.0</concentration>
-      </spotLight>
-      <spotLight>
-        <name>X_bwd</name>
+      <directionalLight>
+        <name>Light</name>
         <joint>FJ_T3_Coman</joint>
         <color R="255" G="255" B="255" />
         <ambient>0.05</ambient>
         <depthXWidth>1024.0</depthXWidth>
         <depthYWidth>1024.0</depthYWidth>
-        <depthNear>0.1</depthNear>
-        <depthFar>100.0</depthFar>
+        <depthNear>-10.0</depthNear>
+        <depthFar>20.0</depthFar>
         <shadowBias>0.0</shadowBias>
         <zUpVector>
           <x>0.0</x>
@@ -4223,70 +3771,18 @@
           <z>1.0</z>
         </zUpVector>
         <active />
-        <position>
-          <x>10.0</x>
-          <y>10.0</y>
-          <z>0.0</z>
-        </position>
-        <attenuation>
-          <cst>1.5</cst>
-          <lin>0.0</lin>
-          <quad>0.0</quad>
-        </attenuation>
-        <depthFovRad>1.0</depthFovRad>
-        <shadowDirVector>
-          <x>0.0</x>
-          <y>-1.0</y>
-          <z>0.0</z>
-        </shadowDirVector>
         <direction>
           <x>-1.0</x>
-          <y>-1.0</y>
-          <z>0.0</z>
+          <y>0.20000000298023224</y>
+          <z>-1.0</z>
         </direction>
-        <angle>3.1415927</angle>
-        <concentration>0.0</concentration>
-      </spotLight>
-      <spotLight>
-        <name>Z</name>
-        <joint>FJ_T3_Coman</joint>
-        <color R="255" G="255" B="255" />
-        <ambient>0.05</ambient>
-        <depthXWidth>1024.0</depthXWidth>
-        <depthYWidth>1024.0</depthYWidth>
-        <depthNear>0.1</depthNear>
-        <depthFar>100.0</depthFar>
-        <shadowBias>0.0</shadowBias>
-        <zUpVector>
+        <depthScale>0.0015</depthScale>
+        <relPointVector>
           <x>0.0</x>
           <y>0.0</y>
-          <z>1.0</z>
-        </zUpVector>
-        <active />
-        <position>
-          <x>0.0</x>
-          <y>0.0</y>
-          <z>10.0</z>
-        </position>
-        <attenuation>
-          <cst>1.2000000476837158</cst>
-          <lin>0.0</lin>
-          <quad>0.0</quad>
-        </attenuation>
-        <depthFovRad>1.0</depthFovRad>
-        <shadowDirVector>
-          <x>0.0</x>
-          <y>-1.0</y>
           <z>0.0</z>
-        </shadowDirVector>
-        <direction>
-          <x>0.0</x>
-          <y>0.0</y>
-          <z>-1.0</z>
-        </direction>
-        <angle>3.1415927</angle>
-        <concentration>0.0</concentration>
-      </spotLight>
+        </relPointVector>
+      </directionalLight>
     </lights>
   </x3D>
 </mbsDescR7>
diff --git a/dataR/elem/coman/coman_feet_missing.mbs b/dataR/elem/coman/coman_feet_missing.mbs
index 428512bbf1d24c1fb3612505f6c3f69cfbb9796c..376233ddca7d09d1f283c45319471846ea76f184 100644
--- a/dataR/elem/coman/coman_feet_missing.mbs
+++ b/dataR/elem/coman/coman_feet_missing.mbs
@@ -465,56 +465,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_07_prt.obj</url>
             </inline>
-            <box>
-              <name>Waist_contact_visu_1</name>
-              <position>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.1</x>
-                <y>0.2</y>
-                <z>0.11</z>
-              </size>
-            </box>
-            <sphere>
-              <name>Waist_contact_visu_2</name>
-              <position>
-                <x>-0.05</x>
-                <y>0.0</y>
-                <z>0.1</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <radius>0.07</radius>
-            </sphere>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -912,33 +862,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_18_prt.obj</url>
             </inline>
-            <box>
-              <name>RThigh_contact_visu</name>
-              <position>
-                <x>0.003</x>
-                <y>0.005</y>
-                <z>0.01</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.1</x>
-                <y>0.1</y>
-                <z>0.26</z>
-              </size>
-            </box>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -1083,33 +1006,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_17_prt.obj</url>
             </inline>
-            <box>
-              <name>RLowLeg_contact_visu</name>
-              <position>
-                <x>0.0</x>
-                <y>0.005</y>
-                <z>-0.12</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.1</x>
-                <y>0.1</y>
-                <z>0.22</z>
-              </size>
-            </box>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -1629,33 +1525,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_04_prt.obj</url>
             </inline>
-            <box>
-              <name>LThigh_contact_visu</name>
-              <position>
-                <x>0.003</x>
-                <y>-0.005</y>
-                <z>0.01</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.1</x>
-                <y>0.1</y>
-                <z>0.26</z>
-              </size>
-            </box>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -1798,33 +1667,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_03_prt.obj</url>
             </inline>
-            <box>
-              <name>LLowLeg_contact_visu</name>
-              <position>
-                <x>0.0</x>
-                <y>-0.005</y>
-                <z>-0.12</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.1</x>
-                <y>0.1</y>
-                <z>0.22</z>
-              </size>
-            </box>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -2369,106 +2211,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/animationR/obj/IIT_files/torso_blue.obj</url>
             </inline>
-            <sphere>
-              <name>Torso_contact_visu_1</name>
-              <position>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>-0.05</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <radius>0.06</radius>
-            </sphere>
-            <box>
-              <name>Torso_contact_visu_2</name>
-              <position>
-                <x>-0.04</x>
-                <y>0.0</y>
-                <z>0.17</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.12</x>
-                <y>0.35</y>
-                <z>0.1</z>
-              </size>
-            </box>
-            <box>
-              <name>Torso_contact_visu_3</name>
-              <position>
-                <x>-0.05</x>
-                <y>0.0</y>
-                <z>0.13</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.19</x>
-                <y>0.18</y>
-                <z>0.2</z>
-              </size>
-            </box>
-            <sphere>
-              <name>Torso_contact_visu_4</name>
-              <position>
-                <x>-0.02</x>
-                <y>0.0</y>
-                <z>0.02</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <radius>0.07</radius>
-            </sphere>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -2867,33 +2609,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_22_prt.obj</url>
             </inline>
-            <box>
-              <name>Rhoulder_contact_visu</name>
-              <position>
-                <x>0.0</x>
-                <y>-0.015</y>
-                <z>-0.05</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.08</x>
-                <y>0.08</y>
-                <z>0.27</z>
-              </size>
-            </box>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -3018,56 +2733,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_21_prt.obj</url>
             </inline>
-            <box>
-              <name>RElbow_contact_visu</name>
-              <position>
-                <x>0.0</x>
-                <y>-0.005</y>
-                <z>-0.13</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.032</x>
-                <y>0.032</y>
-                <z>0.16</z>
-              </size>
-            </box>
-            <sphere>
-              <name>RWrist_contact_visu</name>
-              <position>
-                <x>0.0</x>
-                <y>-0.005</y>
-                <z>-0.208</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <radius>0.021</radius>
-            </sphere>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -3466,33 +3131,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_12_prt.obj</url>
             </inline>
-            <box>
-              <name>LSoulder_contact_visu</name>
-              <position>
-                <x>0.0</x>
-                <y>0.015</y>
-                <z>-0.05</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.08</x>
-                <y>0.08</y>
-                <z>0.27</z>
-              </size>
-            </box>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -3619,56 +3257,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/animationR/obj/IIT_files/asm0001_vrml_11_prt.obj</url>
             </inline>
-            <box>
-              <name>LElbow_contact_visu</name>
-              <position>
-                <x>0.005</x>
-                <y>0.005</y>
-                <z>-0.13</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.032</x>
-                <y>0.032</y>
-                <z>0.16</z>
-              </size>
-            </box>
-            <sphere>
-              <name>Lwrist_contact_visu</name>
-              <position>
-                <x>0.005</x>
-                <y>0.005</y>
-                <z>-0.208</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <radius>0.021</radius>
-            </sphere>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -3755,15 +3343,15 @@
     </viewpoints>
     <lights>
       <!--This is the light list-->
-      <spotLight>
-        <name>X_fwd</name>
+      <directionalLight>
+        <name>Light</name>
         <joint>FJ_T3_Coman</joint>
         <color R="255" G="255" B="255" />
         <ambient>0.05</ambient>
         <depthXWidth>1024.0</depthXWidth>
         <depthYWidth>1024.0</depthYWidth>
-        <depthNear>0.1</depthNear>
-        <depthFar>100.0</depthFar>
+        <depthNear>-10.0</depthNear>
+        <depthFar>20.0</depthFar>
         <shadowBias>0.0</shadowBias>
         <zUpVector>
           <x>0.0</x>
@@ -3771,110 +3359,18 @@
           <z>1.0</z>
         </zUpVector>
         <active />
-        <position>
-          <x>-10.0</x>
-          <y>-10.0</y>
-          <z>0.0</z>
-        </position>
-        <attenuation>
-          <cst>1.5</cst>
-          <lin>0.0</lin>
-          <quad>0.0</quad>
-        </attenuation>
-        <depthFovRad>1.0</depthFovRad>
-        <shadowDirVector>
-          <x>0.0</x>
-          <y>-1.0</y>
-          <z>0.0</z>
-        </shadowDirVector>
-        <direction>
-          <x>1.0</x>
-          <y>1.0</y>
-          <z>0.0</z>
-        </direction>
-        <angle>3.1415927</angle>
-        <concentration>0.0</concentration>
-      </spotLight>
-      <spotLight>
-        <name>X_bwd</name>
-        <joint>FJ_T3_Coman</joint>
-        <color R="255" G="255" B="255" />
-        <ambient>0.05</ambient>
-        <depthXWidth>1024.0</depthXWidth>
-        <depthYWidth>1024.0</depthYWidth>
-        <depthNear>0.1</depthNear>
-        <depthFar>100.0</depthFar>
-        <shadowBias>0.0</shadowBias>
-        <zUpVector>
-          <x>0.0</x>
-          <y>0.0</y>
-          <z>1.0</z>
-        </zUpVector>
-        <active />
-        <position>
-          <x>10.0</x>
-          <y>10.0</y>
-          <z>0.0</z>
-        </position>
-        <attenuation>
-          <cst>1.5</cst>
-          <lin>0.0</lin>
-          <quad>0.0</quad>
-        </attenuation>
-        <depthFovRad>1.0</depthFovRad>
-        <shadowDirVector>
-          <x>0.0</x>
-          <y>-1.0</y>
-          <z>0.0</z>
-        </shadowDirVector>
         <direction>
           <x>-1.0</x>
-          <y>-1.0</y>
-          <z>0.0</z>
+          <y>0.20000000298023224</y>
+          <z>-1.0</z>
         </direction>
-        <angle>3.1415927</angle>
-        <concentration>0.0</concentration>
-      </spotLight>
-      <spotLight>
-        <name>Z</name>
-        <joint>FJ_T3_Coman</joint>
-        <color R="255" G="255" B="255" />
-        <ambient>0.05</ambient>
-        <depthXWidth>1024.0</depthXWidth>
-        <depthYWidth>1024.0</depthYWidth>
-        <depthNear>0.1</depthNear>
-        <depthFar>100.0</depthFar>
-        <shadowBias>0.0</shadowBias>
-        <zUpVector>
-          <x>0.0</x>
-          <y>0.0</y>
-          <z>1.0</z>
-        </zUpVector>
-        <active />
-        <position>
+        <depthScale>0.0015</depthScale>
+        <relPointVector>
           <x>0.0</x>
           <y>0.0</y>
-          <z>10.0</z>
-        </position>
-        <attenuation>
-          <cst>1.2000000476837158</cst>
-          <lin>0.0</lin>
-          <quad>0.0</quad>
-        </attenuation>
-        <depthFovRad>1.0</depthFovRad>
-        <shadowDirVector>
-          <x>0.0</x>
-          <y>-1.0</y>
           <z>0.0</z>
-        </shadowDirVector>
-        <direction>
-          <x>0.0</x>
-          <y>0.0</y>
-          <z>-1.0</z>
-        </direction>
-        <angle>3.1415927</angle>
-        <concentration>0.0</concentration>
-      </spotLight>
+        </relPointVector>
+      </directionalLight>
     </lights>
   </x3D>
 </mbsDescR7>
diff --git a/dataR/visu/coman_flex_feet_visu.mbs b/dataR/visu/coman_flex_feet_visu.mbs
index 90fa244b92484eb06f45f45025afb615b8c0e58f..84e590c8dbd74e049dc839aaf6de1116869e5a3a 100644
--- a/dataR/visu/coman_flex_feet_visu.mbs
+++ b/dataR/visu/coman_flex_feet_visu.mbs
@@ -520,56 +520,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/../../animationR/obj/IIT_files/asm0001_vrml_07_prt.obj</url>
             </inline>
-            <box>
-              <name>Waist_contact_visu_1</name>
-              <position>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.1</x>
-                <y>0.2</y>
-                <z>0.11</z>
-              </size>
-            </box>
-            <sphere>
-              <name>Waist_contact_visu_2</name>
-              <position>
-                <x>-0.05</x>
-                <y>0.0</y>
-                <z>0.1</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <radius>0.07</radius>
-            </sphere>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -967,33 +917,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/../../animationR/obj/IIT_files/asm0001_vrml_18_prt.obj</url>
             </inline>
-            <box>
-              <name>RThigh_contact_visu</name>
-              <position>
-                <x>0.003</x>
-                <y>0.005</y>
-                <z>0.01</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.1</x>
-                <y>0.1</y>
-                <z>0.26</z>
-              </size>
-            </box>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -1138,33 +1061,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/../../animationR/obj/IIT_files/asm0001_vrml_17_prt.obj</url>
             </inline>
-            <box>
-              <name>RLowLeg_contact_visu</name>
-              <position>
-                <x>0.0</x>
-                <y>0.005</y>
-                <z>-0.12</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.1</x>
-                <y>0.1</y>
-                <z>0.22</z>
-              </size>
-            </box>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -2150,33 +2046,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/../../animationR/obj/IIT_files/asm0001_vrml_04_prt.obj</url>
             </inline>
-            <box>
-              <name>LThigh_contact_visu</name>
-              <position>
-                <x>0.003</x>
-                <y>-0.005</y>
-                <z>0.01</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.1</x>
-                <y>0.1</y>
-                <z>0.26</z>
-              </size>
-            </box>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -2319,33 +2188,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/../../animationR/obj/IIT_files/asm0001_vrml_03_prt.obj</url>
             </inline>
-            <box>
-              <name>LLowLeg_contact_visu</name>
-              <position>
-                <x>0.0</x>
-                <y>-0.005</y>
-                <z>-0.12</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.1</x>
-                <y>0.1</y>
-                <z>0.22</z>
-              </size>
-            </box>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -3356,106 +3198,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/../../animationR/obj/IIT_files/torso_blue.obj</url>
             </inline>
-            <sphere>
-              <name>Torso_contact_visu_1</name>
-              <position>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>-0.05</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <radius>0.06</radius>
-            </sphere>
-            <box>
-              <name>Torso_contact_visu_2</name>
-              <position>
-                <x>-0.04</x>
-                <y>0.0</y>
-                <z>0.17</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.12</x>
-                <y>0.35</y>
-                <z>0.1</z>
-              </size>
-            </box>
-            <box>
-              <name>Torso_contact_visu_3</name>
-              <position>
-                <x>-0.05</x>
-                <y>0.0</y>
-                <z>0.13</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.19</x>
-                <y>0.18</y>
-                <z>0.2</z>
-              </size>
-            </box>
-            <sphere>
-              <name>Torso_contact_visu_4</name>
-              <position>
-                <x>-0.02</x>
-                <y>0.0</y>
-                <z>0.02</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <radius>0.07</radius>
-            </sphere>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -3854,33 +3596,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/../../animationR/obj/IIT_files/asm0001_vrml_22_prt.obj</url>
             </inline>
-            <box>
-              <name>Rhoulder_contact_visu</name>
-              <position>
-                <x>0.0</x>
-                <y>-0.015</y>
-                <z>-0.05</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.08</x>
-                <y>0.08</y>
-                <z>0.27</z>
-              </size>
-            </box>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -4005,56 +3720,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/../../animationR/obj/IIT_files/asm0001_vrml_21_prt.obj</url>
             </inline>
-            <box>
-              <name>RElbow_contact_visu</name>
-              <position>
-                <x>0.0</x>
-                <y>-0.005</y>
-                <z>-0.13</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.032</x>
-                <y>0.032</y>
-                <z>0.16</z>
-              </size>
-            </box>
-            <sphere>
-              <name>RWrist_contact_visu</name>
-              <position>
-                <x>0.0</x>
-                <y>-0.005</y>
-                <z>-0.208</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <radius>0.021</radius>
-            </sphere>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -4453,33 +4118,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/../../animationR/obj/IIT_files/asm0001_vrml_12_prt.obj</url>
             </inline>
-            <box>
-              <name>LSoulder_contact_visu</name>
-              <position>
-                <x>0.0</x>
-                <y>0.015</y>
-                <z>-0.05</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.08</x>
-                <y>0.08</y>
-                <z>0.27</z>
-              </size>
-            </box>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -4606,56 +4244,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/../../animationR/obj/IIT_files/asm0001_vrml_11_prt.obj</url>
             </inline>
-            <box>
-              <name>LElbow_contact_visu</name>
-              <position>
-                <x>0.005</x>
-                <y>0.005</y>
-                <z>-0.13</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.032</x>
-                <y>0.032</y>
-                <z>0.16</z>
-              </size>
-            </box>
-            <sphere>
-              <name>Lwrist_contact_visu</name>
-              <position>
-                <x>0.005</x>
-                <y>0.005</y>
-                <z>-0.208</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <radius>0.021</radius>
-            </sphere>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -5022,55 +4610,15 @@
     </viewpoints>
     <lights>
       <!--This is the light list-->
-      <spotLight>
-        <name>X_fwd</name>
-        <joint>FJ_T3_Coman</joint>
-        <color R="255" G="255" B="255" />
-        <ambient>0.05</ambient>
-        <depthXWidth>1024.0</depthXWidth>
-        <depthYWidth>1024.0</depthYWidth>
-        <depthNear>0.1</depthNear>
-        <depthFar>100.0</depthFar>
-        <shadowBias>0.0</shadowBias>
-        <zUpVector>
-          <x>0.0</x>
-          <y>0.0</y>
-          <z>1.0</z>
-        </zUpVector>
-        <active />
-        <position>
-          <x>-10.0</x>
-          <y>-10.0</y>
-          <z>0.0</z>
-        </position>
-        <attenuation>
-          <cst>1.5</cst>
-          <lin>0.0</lin>
-          <quad>0.0</quad>
-        </attenuation>
-        <depthFovRad>1.0</depthFovRad>
-        <shadowDirVector>
-          <x>0.0</x>
-          <y>-1.0</y>
-          <z>0.0</z>
-        </shadowDirVector>
-        <direction>
-          <x>1.0</x>
-          <y>1.0</y>
-          <z>0.0</z>
-        </direction>
-        <angle>3.1415927</angle>
-        <concentration>0.0</concentration>
-      </spotLight>
-      <spotLight>
-        <name>X_bwd</name>
+      <directionalLight>
+        <name>Light</name>
         <joint>FJ_T3_Coman</joint>
         <color R="255" G="255" B="255" />
         <ambient>0.05</ambient>
         <depthXWidth>1024.0</depthXWidth>
         <depthYWidth>1024.0</depthYWidth>
-        <depthNear>0.1</depthNear>
-        <depthFar>100.0</depthFar>
+        <depthNear>-10.0</depthNear>
+        <depthFar>20.0</depthFar>
         <shadowBias>0.0</shadowBias>
         <zUpVector>
           <x>0.0</x>
@@ -5078,70 +4626,18 @@
           <z>1.0</z>
         </zUpVector>
         <active />
-        <position>
-          <x>10.0</x>
-          <y>10.0</y>
-          <z>0.0</z>
-        </position>
-        <attenuation>
-          <cst>1.5</cst>
-          <lin>0.0</lin>
-          <quad>0.0</quad>
-        </attenuation>
-        <depthFovRad>1.0</depthFovRad>
-        <shadowDirVector>
-          <x>0.0</x>
-          <y>-1.0</y>
-          <z>0.0</z>
-        </shadowDirVector>
         <direction>
           <x>-1.0</x>
-          <y>-1.0</y>
-          <z>0.0</z>
+          <y>0.20000000298023224</y>
+          <z>-1.0</z>
         </direction>
-        <angle>3.1415927</angle>
-        <concentration>0.0</concentration>
-      </spotLight>
-      <spotLight>
-        <name>Z</name>
-        <joint>FJ_T3_Coman</joint>
-        <color R="255" G="255" B="255" />
-        <ambient>0.05</ambient>
-        <depthXWidth>1024.0</depthXWidth>
-        <depthYWidth>1024.0</depthYWidth>
-        <depthNear>0.1</depthNear>
-        <depthFar>100.0</depthFar>
-        <shadowBias>0.0</shadowBias>
-        <zUpVector>
+        <depthScale>0.0015</depthScale>
+        <relPointVector>
           <x>0.0</x>
           <y>0.0</y>
-          <z>1.0</z>
-        </zUpVector>
-        <active />
-        <position>
-          <x>0.0</x>
-          <y>0.0</y>
-          <z>10.0</z>
-        </position>
-        <attenuation>
-          <cst>1.2000000476837158</cst>
-          <lin>0.0</lin>
-          <quad>0.0</quad>
-        </attenuation>
-        <depthFovRad>1.0</depthFovRad>
-        <shadowDirVector>
-          <x>0.0</x>
-          <y>-1.0</y>
           <z>0.0</z>
-        </shadowDirVector>
-        <direction>
-          <x>0.0</x>
-          <y>0.0</y>
-          <z>-1.0</z>
-        </direction>
-        <angle>3.1415927</angle>
-        <concentration>0.0</concentration>
-      </spotLight>
+        </relPointVector>
+      </directionalLight>
     </lights>
   </x3D>
 </mbsDescR7>
diff --git a/dataR/visu/coman_init_feet_visu.mbs b/dataR/visu/coman_init_feet_visu.mbs
index 1e48464c925c92041d670caf3f2f92f6a7401ba4..7927bc71856ecf5a457188b6401f55699bb23692 100644
--- a/dataR/visu/coman_init_feet_visu.mbs
+++ b/dataR/visu/coman_init_feet_visu.mbs
@@ -520,56 +520,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/../../animationR/obj/IIT_files/asm0001_vrml_07_prt.obj</url>
             </inline>
-            <box>
-              <name>Waist_contact_visu_1</name>
-              <position>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.1</x>
-                <y>0.2</y>
-                <z>0.11</z>
-              </size>
-            </box>
-            <sphere>
-              <name>Waist_contact_visu_2</name>
-              <position>
-                <x>-0.05</x>
-                <y>0.0</y>
-                <z>0.1</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <radius>0.07</radius>
-            </sphere>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -967,33 +917,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/../../animationR/obj/IIT_files/asm0001_vrml_18_prt.obj</url>
             </inline>
-            <box>
-              <name>RThigh_contact_visu</name>
-              <position>
-                <x>0.003</x>
-                <y>0.005</y>
-                <z>0.01</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.1</x>
-                <y>0.1</y>
-                <z>0.26</z>
-              </size>
-            </box>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -1138,33 +1061,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/../../animationR/obj/IIT_files/asm0001_vrml_17_prt.obj</url>
             </inline>
-            <box>
-              <name>RLowLeg_contact_visu</name>
-              <position>
-                <x>0.0</x>
-                <y>0.005</y>
-                <z>-0.12</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.1</x>
-                <y>0.1</y>
-                <z>0.22</z>
-              </size>
-            </box>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -1892,33 +1788,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/../../animationR/obj/IIT_files/asm0001_vrml_04_prt.obj</url>
             </inline>
-            <box>
-              <name>LThigh_contact_visu</name>
-              <position>
-                <x>0.003</x>
-                <y>-0.005</y>
-                <z>0.01</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.1</x>
-                <y>0.1</y>
-                <z>0.26</z>
-              </size>
-            </box>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -2061,33 +1930,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/../../animationR/obj/IIT_files/asm0001_vrml_03_prt.obj</url>
             </inline>
-            <box>
-              <name>LLowLeg_contact_visu</name>
-              <position>
-                <x>0.0</x>
-                <y>-0.005</y>
-                <z>-0.12</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.1</x>
-                <y>0.1</y>
-                <z>0.22</z>
-              </size>
-            </box>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -2840,106 +2682,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/../../animationR/obj/IIT_files/torso_blue.obj</url>
             </inline>
-            <sphere>
-              <name>Torso_contact_visu_1</name>
-              <position>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>-0.05</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <radius>0.06</radius>
-            </sphere>
-            <box>
-              <name>Torso_contact_visu_2</name>
-              <position>
-                <x>-0.04</x>
-                <y>0.0</y>
-                <z>0.17</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.12</x>
-                <y>0.35</y>
-                <z>0.1</z>
-              </size>
-            </box>
-            <box>
-              <name>Torso_contact_visu_3</name>
-              <position>
-                <x>-0.05</x>
-                <y>0.0</y>
-                <z>0.13</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.19</x>
-                <y>0.18</y>
-                <z>0.2</z>
-              </size>
-            </box>
-            <sphere>
-              <name>Torso_contact_visu_4</name>
-              <position>
-                <x>-0.02</x>
-                <y>0.0</y>
-                <z>0.02</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <radius>0.07</radius>
-            </sphere>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -3338,33 +3080,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/../../animationR/obj/IIT_files/asm0001_vrml_22_prt.obj</url>
             </inline>
-            <box>
-              <name>Rhoulder_contact_visu</name>
-              <position>
-                <x>0.0</x>
-                <y>-0.015</y>
-                <z>-0.05</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.08</x>
-                <y>0.08</y>
-                <z>0.27</z>
-              </size>
-            </box>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -3489,56 +3204,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/../../animationR/obj/IIT_files/asm0001_vrml_21_prt.obj</url>
             </inline>
-            <box>
-              <name>RElbow_contact_visu</name>
-              <position>
-                <x>0.0</x>
-                <y>-0.005</y>
-                <z>-0.13</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.032</x>
-                <y>0.032</y>
-                <z>0.16</z>
-              </size>
-            </box>
-            <sphere>
-              <name>RWrist_contact_visu</name>
-              <position>
-                <x>0.0</x>
-                <y>-0.005</y>
-                <z>-0.208</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <radius>0.021</radius>
-            </sphere>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -3937,33 +3602,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/../../animationR/obj/IIT_files/asm0001_vrml_12_prt.obj</url>
             </inline>
-            <box>
-              <name>LSoulder_contact_visu</name>
-              <position>
-                <x>0.0</x>
-                <y>0.015</y>
-                <z>-0.05</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.08</x>
-                <y>0.08</y>
-                <z>0.27</z>
-              </size>
-            </box>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -4090,56 +3728,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/../../animationR/obj/IIT_files/asm0001_vrml_11_prt.obj</url>
             </inline>
-            <box>
-              <name>LElbow_contact_visu</name>
-              <position>
-                <x>0.005</x>
-                <y>0.005</y>
-                <z>-0.13</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.032</x>
-                <y>0.032</y>
-                <z>0.16</z>
-              </size>
-            </box>
-            <sphere>
-              <name>Lwrist_contact_visu</name>
-              <position>
-                <x>0.005</x>
-                <y>0.005</y>
-                <z>-0.208</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <radius>0.021</radius>
-            </sphere>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -4506,55 +4094,15 @@
     </viewpoints>
     <lights>
       <!--This is the light list-->
-      <spotLight>
-        <name>X_fwd</name>
-        <joint>FJ_T3_Coman</joint>
-        <color R="255" G="255" B="255" />
-        <ambient>0.05</ambient>
-        <depthXWidth>1024.0</depthXWidth>
-        <depthYWidth>1024.0</depthYWidth>
-        <depthNear>0.1</depthNear>
-        <depthFar>100.0</depthFar>
-        <shadowBias>0.0</shadowBias>
-        <zUpVector>
-          <x>0.0</x>
-          <y>0.0</y>
-          <z>1.0</z>
-        </zUpVector>
-        <active />
-        <position>
-          <x>-10.0</x>
-          <y>-10.0</y>
-          <z>0.0</z>
-        </position>
-        <attenuation>
-          <cst>1.5</cst>
-          <lin>0.0</lin>
-          <quad>0.0</quad>
-        </attenuation>
-        <depthFovRad>1.0</depthFovRad>
-        <shadowDirVector>
-          <x>0.0</x>
-          <y>-1.0</y>
-          <z>0.0</z>
-        </shadowDirVector>
-        <direction>
-          <x>1.0</x>
-          <y>1.0</y>
-          <z>0.0</z>
-        </direction>
-        <angle>3.1415927</angle>
-        <concentration>0.0</concentration>
-      </spotLight>
-      <spotLight>
-        <name>X_bwd</name>
+      <directionalLight>
+        <name>Light</name>
         <joint>FJ_T3_Coman</joint>
         <color R="255" G="255" B="255" />
         <ambient>0.05</ambient>
         <depthXWidth>1024.0</depthXWidth>
         <depthYWidth>1024.0</depthYWidth>
-        <depthNear>0.1</depthNear>
-        <depthFar>100.0</depthFar>
+        <depthNear>-10.0</depthNear>
+        <depthFar>20.0</depthFar>
         <shadowBias>0.0</shadowBias>
         <zUpVector>
           <x>0.0</x>
@@ -4562,70 +4110,18 @@
           <z>1.0</z>
         </zUpVector>
         <active />
-        <position>
-          <x>10.0</x>
-          <y>10.0</y>
-          <z>0.0</z>
-        </position>
-        <attenuation>
-          <cst>1.5</cst>
-          <lin>0.0</lin>
-          <quad>0.0</quad>
-        </attenuation>
-        <depthFovRad>1.0</depthFovRad>
-        <shadowDirVector>
-          <x>0.0</x>
-          <y>-1.0</y>
-          <z>0.0</z>
-        </shadowDirVector>
         <direction>
           <x>-1.0</x>
-          <y>-1.0</y>
-          <z>0.0</z>
+          <y>0.20000000298023224</y>
+          <z>-1.0</z>
         </direction>
-        <angle>3.1415927</angle>
-        <concentration>0.0</concentration>
-      </spotLight>
-      <spotLight>
-        <name>Z</name>
-        <joint>FJ_T3_Coman</joint>
-        <color R="255" G="255" B="255" />
-        <ambient>0.05</ambient>
-        <depthXWidth>1024.0</depthXWidth>
-        <depthYWidth>1024.0</depthYWidth>
-        <depthNear>0.1</depthNear>
-        <depthFar>100.0</depthFar>
-        <shadowBias>0.0</shadowBias>
-        <zUpVector>
+        <depthScale>0.0015</depthScale>
+        <relPointVector>
           <x>0.0</x>
           <y>0.0</y>
-          <z>1.0</z>
-        </zUpVector>
-        <active />
-        <position>
-          <x>0.0</x>
-          <y>0.0</y>
-          <z>10.0</z>
-        </position>
-        <attenuation>
-          <cst>1.2000000476837158</cst>
-          <lin>0.0</lin>
-          <quad>0.0</quad>
-        </attenuation>
-        <depthFovRad>1.0</depthFovRad>
-        <shadowDirVector>
-          <x>0.0</x>
-          <y>-1.0</y>
           <z>0.0</z>
-        </shadowDirVector>
-        <direction>
-          <x>0.0</x>
-          <y>0.0</y>
-          <z>-1.0</z>
-        </direction>
-        <angle>3.1415927</angle>
-        <concentration>0.0</concentration>
-      </spotLight>
+        </relPointVector>
+      </directionalLight>
     </lights>
   </x3D>
 </mbsDescR7>
diff --git a/dataR/visu/coman_long_feet_visu.mbs b/dataR/visu/coman_long_feet_visu.mbs
index eea0414f7b42a85ef35eb5fcc2721d8bdc736bff..4bc034b9522f72a471d16ee684a35125d31d6aed 100644
--- a/dataR/visu/coman_long_feet_visu.mbs
+++ b/dataR/visu/coman_long_feet_visu.mbs
@@ -520,56 +520,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/../../animationR/obj/IIT_files/asm0001_vrml_07_prt.obj</url>
             </inline>
-            <box>
-              <name>Waist_contact_visu_1</name>
-              <position>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.1</x>
-                <y>0.2</y>
-                <z>0.11</z>
-              </size>
-            </box>
-            <sphere>
-              <name>Waist_contact_visu_2</name>
-              <position>
-                <x>-0.05</x>
-                <y>0.0</y>
-                <z>0.1</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <radius>0.07</radius>
-            </sphere>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -967,33 +917,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/../../animationR/obj/IIT_files/asm0001_vrml_18_prt.obj</url>
             </inline>
-            <box>
-              <name>RThigh_contact_visu</name>
-              <position>
-                <x>0.003</x>
-                <y>0.005</y>
-                <z>0.01</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.1</x>
-                <y>0.1</y>
-                <z>0.26</z>
-              </size>
-            </box>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -1138,33 +1061,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/../../animationR/obj/IIT_files/asm0001_vrml_17_prt.obj</url>
             </inline>
-            <box>
-              <name>RLowLeg_contact_visu</name>
-              <position>
-                <x>0.0</x>
-                <y>0.005</y>
-                <z>-0.12</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.1</x>
-                <y>0.1</y>
-                <z>0.22</z>
-              </size>
-            </box>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -1894,33 +1790,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/../../animationR/obj/IIT_files/asm0001_vrml_04_prt.obj</url>
             </inline>
-            <box>
-              <name>LThigh_contact_visu</name>
-              <position>
-                <x>0.003</x>
-                <y>-0.005</y>
-                <z>0.01</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.1</x>
-                <y>0.1</y>
-                <z>0.26</z>
-              </size>
-            </box>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -2063,33 +1932,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/../../animationR/obj/IIT_files/asm0001_vrml_03_prt.obj</url>
             </inline>
-            <box>
-              <name>LLowLeg_contact_visu</name>
-              <position>
-                <x>0.0</x>
-                <y>-0.005</y>
-                <z>-0.12</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.1</x>
-                <y>0.1</y>
-                <z>0.22</z>
-              </size>
-            </box>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -2844,106 +2686,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/../../animationR/obj/IIT_files/torso_blue.obj</url>
             </inline>
-            <sphere>
-              <name>Torso_contact_visu_1</name>
-              <position>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>-0.05</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <radius>0.06</radius>
-            </sphere>
-            <box>
-              <name>Torso_contact_visu_2</name>
-              <position>
-                <x>-0.04</x>
-                <y>0.0</y>
-                <z>0.17</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.12</x>
-                <y>0.35</y>
-                <z>0.1</z>
-              </size>
-            </box>
-            <box>
-              <name>Torso_contact_visu_3</name>
-              <position>
-                <x>-0.05</x>
-                <y>0.0</y>
-                <z>0.13</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.19</x>
-                <y>0.18</y>
-                <z>0.2</z>
-              </size>
-            </box>
-            <sphere>
-              <name>Torso_contact_visu_4</name>
-              <position>
-                <x>-0.02</x>
-                <y>0.0</y>
-                <z>0.02</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <radius>0.07</radius>
-            </sphere>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -3342,33 +3084,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/../../animationR/obj/IIT_files/asm0001_vrml_22_prt.obj</url>
             </inline>
-            <box>
-              <name>Rhoulder_contact_visu</name>
-              <position>
-                <x>0.0</x>
-                <y>-0.015</y>
-                <z>-0.05</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.08</x>
-                <y>0.08</y>
-                <z>0.27</z>
-              </size>
-            </box>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -3493,56 +3208,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/../../animationR/obj/IIT_files/asm0001_vrml_21_prt.obj</url>
             </inline>
-            <box>
-              <name>RElbow_contact_visu</name>
-              <position>
-                <x>0.0</x>
-                <y>-0.005</y>
-                <z>-0.13</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.032</x>
-                <y>0.032</y>
-                <z>0.16</z>
-              </size>
-            </box>
-            <sphere>
-              <name>RWrist_contact_visu</name>
-              <position>
-                <x>0.0</x>
-                <y>-0.005</y>
-                <z>-0.208</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <radius>0.021</radius>
-            </sphere>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -3941,33 +3606,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/../../animationR/obj/IIT_files/asm0001_vrml_12_prt.obj</url>
             </inline>
-            <box>
-              <name>LSoulder_contact_visu</name>
-              <position>
-                <x>0.0</x>
-                <y>0.015</y>
-                <z>-0.05</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.08</x>
-                <y>0.08</y>
-                <z>0.27</z>
-              </size>
-            </box>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -4094,56 +3732,6 @@
               <transparency>0.0</transparency>
               <url>PRJPATH/../../animationR/obj/IIT_files/asm0001_vrml_11_prt.obj</url>
             </inline>
-            <box>
-              <name>LElbow_contact_visu</name>
-              <position>
-                <x>0.005</x>
-                <y>0.005</y>
-                <z>-0.13</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <size>
-                <x>0.032</x>
-                <y>0.032</y>
-                <z>0.16</z>
-              </size>
-            </box>
-            <sphere>
-              <name>Lwrist_contact_visu</name>
-              <position>
-                <x>0.005</x>
-                <y>0.005</y>
-                <z>-0.208</z>
-              </position>
-              <scale>
-                <x>1.0</x>
-                <y>1.0</y>
-                <z>1.0</z>
-              </scale>
-              <rotation>
-                <x>0.0</x>
-                <y>0.0</y>
-                <z>0.0</z>
-              </rotation>
-              <color R="0" G="102" B="0" />
-              <specularColor R="255" G="255" B="255" />
-              <shininess>250.0</shininess>
-              <transparency>1.0</transparency>
-              <radius>0.021</radius>
-            </sphere>
           </x3D_shapes>
         </x3D>
       </graphics>
@@ -4510,15 +4098,15 @@
     </viewpoints>
     <lights>
       <!--This is the light list-->
-      <spotLight>
-        <name>X_fwd</name>
+      <directionalLight>
+        <name>Light</name>
         <joint>FJ_T3_Coman</joint>
         <color R="255" G="255" B="255" />
         <ambient>0.05</ambient>
         <depthXWidth>1024.0</depthXWidth>
         <depthYWidth>1024.0</depthYWidth>
-        <depthNear>0.1</depthNear>
-        <depthFar>100.0</depthFar>
+        <depthNear>-10.0</depthNear>
+        <depthFar>20.0</depthFar>
         <shadowBias>0.0</shadowBias>
         <zUpVector>
           <x>0.0</x>
@@ -4526,110 +4114,18 @@
           <z>1.0</z>
         </zUpVector>
         <active />
-        <position>
-          <x>-10.0</x>
-          <y>-10.0</y>
-          <z>0.0</z>
-        </position>
-        <attenuation>
-          <cst>1.5</cst>
-          <lin>0.0</lin>
-          <quad>0.0</quad>
-        </attenuation>
-        <depthFovRad>1.0</depthFovRad>
-        <shadowDirVector>
-          <x>0.0</x>
-          <y>-1.0</y>
-          <z>0.0</z>
-        </shadowDirVector>
-        <direction>
-          <x>1.0</x>
-          <y>1.0</y>
-          <z>0.0</z>
-        </direction>
-        <angle>3.1415927</angle>
-        <concentration>0.0</concentration>
-      </spotLight>
-      <spotLight>
-        <name>X_bwd</name>
-        <joint>FJ_T3_Coman</joint>
-        <color R="255" G="255" B="255" />
-        <ambient>0.05</ambient>
-        <depthXWidth>1024.0</depthXWidth>
-        <depthYWidth>1024.0</depthYWidth>
-        <depthNear>0.1</depthNear>
-        <depthFar>100.0</depthFar>
-        <shadowBias>0.0</shadowBias>
-        <zUpVector>
-          <x>0.0</x>
-          <y>0.0</y>
-          <z>1.0</z>
-        </zUpVector>
-        <active />
-        <position>
-          <x>10.0</x>
-          <y>10.0</y>
-          <z>0.0</z>
-        </position>
-        <attenuation>
-          <cst>1.5</cst>
-          <lin>0.0</lin>
-          <quad>0.0</quad>
-        </attenuation>
-        <depthFovRad>1.0</depthFovRad>
-        <shadowDirVector>
-          <x>0.0</x>
-          <y>-1.0</y>
-          <z>0.0</z>
-        </shadowDirVector>
         <direction>
           <x>-1.0</x>
-          <y>-1.0</y>
-          <z>0.0</z>
+          <y>0.20000000298023224</y>
+          <z>-1.0</z>
         </direction>
-        <angle>3.1415927</angle>
-        <concentration>0.0</concentration>
-      </spotLight>
-      <spotLight>
-        <name>Z</name>
-        <joint>FJ_T3_Coman</joint>
-        <color R="255" G="255" B="255" />
-        <ambient>0.05</ambient>
-        <depthXWidth>1024.0</depthXWidth>
-        <depthYWidth>1024.0</depthYWidth>
-        <depthNear>0.1</depthNear>
-        <depthFar>100.0</depthFar>
-        <shadowBias>0.0</shadowBias>
-        <zUpVector>
+        <depthScale>0.0015</depthScale>
+        <relPointVector>
           <x>0.0</x>
           <y>0.0</y>
-          <z>1.0</z>
-        </zUpVector>
-        <active />
-        <position>
-          <x>0.0</x>
-          <y>0.0</y>
-          <z>10.0</z>
-        </position>
-        <attenuation>
-          <cst>1.2000000476837158</cst>
-          <lin>0.0</lin>
-          <quad>0.0</quad>
-        </attenuation>
-        <depthFovRad>1.0</depthFovRad>
-        <shadowDirVector>
-          <x>0.0</x>
-          <y>-1.0</y>
           <z>0.0</z>
-        </shadowDirVector>
-        <direction>
-          <x>0.0</x>
-          <y>0.0</y>
-          <z>-1.0</z>
-        </direction>
-        <angle>3.1415927</angle>
-        <concentration>0.0</concentration>
-      </spotLight>
+        </relPointVector>
+      </directionalLight>
     </lights>
   </x3D>
 </mbsDescR7>