Lights should not cast shadows of light visual and transform tool gizmos

[athenaz2]

Environment

• OS Version: Ubuntu 22.04
• Source or binary build? Source build of Gazebo Harmonic

Description

• Expected behavior: If <light> has its <cast_shadows> set as true, the light shouldn't cast shadows of the light visual (if <visualize> is true) nor the transform tool (if the Transform Control GUI plugin is used).
• Actual behavior: Light is casting shadows of the light visual and the transform tool gizmos.

Steps to reproduce

scene.sdf.txt

1. Run the attached SDF file.
2. Note the faint shadows (looks like dotted lines) near the corners and ends of the walls (point light visual), alongside the big chunky shadow (transform tool).

Output