Collada model is not visible in gazebo 8/9 if transparent = A_ONE

asked 2018-07-22 14:15:07 -0600

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I use a number of Collada models received from SolidWorks using different converters (Blender, OpenCollada, 3DMax). All models are correctly visualized in gazebo 7 but not visible in gazebo 8/9 (collision works)

As I discovered, the problem is related to the transparent tag in dae files. If it is set to RGB_ZERO then models are visible in gazebo 7/8/9. But if it is set to A_ONE then model is visible only in gazebo 7, but it is invisible in gazebo 8/9. Also, if transparent is removed from dae file, the models are also visible in all versions of gazebo. A_ONE is set by OpenCollada and blender converters, RGB_ZERO – 3DMax.

As I saw, the code for processing transparent in ColladaLoader.cc changed between 7th and 8th versions but it looks correct in the 8th and 9th versions.

The interesting part of my dae files looks like this:

<transparent opaque="A_ONE">
     <color>1 1 1 1</color>
 </transparent>

The question is: does the problem lie in how gazebo handles transparent or in incorrect parameters specified by the exporters?

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Comments

I've also observed this. However, if I add a `transparency` tag after it, it works. <transparent opaque="A_ONE"> <color>1 1 1 1</color> </transparent> <transparency><float>1</float></transparency>

arifrahman gravatar imagearifrahman ( 2018-08-13 20:57:06 -0600 )edit