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Hi,

I imported your collada files in Blender.

Your submarine has the Duck texture on it but there is nearly only yellow in the area of your generated UVMap. This seems to be displayed right in gazebo(it seems to be yellow)...

Sub marine UV Map

The Terrain has only a grey material assigned and no texture... This seems list there is something wrong with your Maya/Export settings

The problem for both files does not seems to be related to gazebo but to the generated .dae File