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Lighting and Shadow Effect Problems.

I'm trying to get rid of any shadow effects in Gazebo and DRCSim-1.3.1. I understand the sun causes most of the shadows and is explained here. When I uncheck "cast shadows" in the Scene, the shadow is removed from the ground. However, when I try to uncheck "shadows" for the sun or any model. The shadows are not removed from the model at all.

I also tried to place more lighting around the model to reduce the effect of the shadows. Sometimes the shadows are removed, and sometimes they are not. However, when I use the simple camera model explained here. The captured images do not reflect the current scene.

Is there anyway to ensure models do not cast shadows on themselves and the world?

Lighting and Shadow Effect Problems.

I'm trying to get rid of any shadow effects in Gazebo and DRCSim-1.3.1. I understand the sun causes most of the shadows and is explained here. When I uncheck "cast shadows" in the Scene, the shadow is removed from the ground. However, when I try to uncheck "shadows" for the sun or any model. The shadows are not removed from the model at all.

I also tried to place more lighting around the model to reduce the effect of the shadows. Sometimes the shadows are removed, and sometimes they are not. However, when I use the simple camera model explained here. The captured images do not reflect the current scene.

Is there anyway to ensure models do not cast shadows on themselves and the world?