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It seems that for the tutorials the rviz has been configured to show half the transparency of the urdf file.

I took a look at the rviz config file in the urdf tutorials package (urdf_tutorials/rviz/urdf.rviz) and saw that on line 53 the Alpha for rviz/RobotModel has been set to 0.5 there. Changing this value to 1.0 restored regular behavior.

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