Model created in Blender, exported as Collada/.dae, does not appear correctly in Gazebo 9.0

edit

What I am trying to achieve

• Create Gazebo simulation world using Blender.
• Due to my problem I reduced the scope to "Create a Gazebo model using .dae meshes for <visual> and <collision>"

My problem/symptom

• My test model seems ok when I insert it.... But...
• Problem #1: The <collision> mesh does not work (My robot run truth the model)

• Problem #2: The <visual> is not recognized by my robot camera (see picture below)

  

Step by step - What I have tried

1. In Blender: Exported the "Blender default cube" as a collada .dae file.

2. Created an model folder

   

3. My model.config

   

4. My model.sdf

   

5. Launched Gazebo, RViz and Rqt

Environment

• ROS1 melodic (Gazebo 9.0)
• Ubuntu 20.04
• Blender 2.93