diff --git a/models/advanced_plane/model.sdf b/models/advanced_plane/model.sdf index 0714e1080349..04d646f4fa4c 100644 --- a/models/advanced_plane/model.sdf +++ b/models/advanced_plane/model.sdf @@ -67,6 +67,10 @@ + + 1 + 30 + 0.3 0 0.0 0 1.57 0 diff --git a/models/omnicopter/model.sdf b/models/omnicopter/model.sdf index b245d708ca6c..180d9fa0e5e3 100644 --- a/models/omnicopter/model.sdf +++ b/models/omnicopter/model.sdf @@ -69,6 +69,10 @@ 1 250 + + 1 + 30 + 0.1 0.1 0.1 -0.350879 -0.908651 0.172719 diff --git a/models/px4vision/model.sdf b/models/px4vision/model.sdf index 6f6904e181ea..462ea8aee2ff 100644 --- a/models/px4vision/model.sdf +++ b/models/px4vision/model.sdf @@ -66,6 +66,10 @@ + + 1 + 30 + 1 250 diff --git a/models/r1_rover/model.sdf b/models/r1_rover/model.sdf index d53f9f4ab3a6..a8204fffcf3c 100644 --- a/models/r1_rover/model.sdf +++ b/models/r1_rover/model.sdf @@ -1,507 +1,511 @@ - - 0 0 0 0 -0 0 - - 0 0 0 0 -0 0 - 20.0 - - 0.37083 - 0.0 - 0.0 - 0.37083 - 0.0 - 0.53333 - - - - 0 0 0.15 0 -0 0 - - - 0.4 0.4 0.25 - - - - - - - - - - - - - 0 0 0 0 -0 0 - - - 1 1 1 - model://r1_rover/meshes/chassis_link.STL - - - - 1.0 1.0 1.0 - 1.0 1.0 1.0 - - - - 0 0 0.114486 0 -0 0 - - - 1 1 1 - model://r1_rover/meshes/top_link.STL - - - - 1.0 1.0 1.0 - 1.0 1.0 1.0 - - - - -0.09302 -0.000128 0.114486 0 -0 0 - - - 1 1 1 - model://r1_rover/meshes/battery_link.STL - - - - 0.0 0.0 0.0 - 0.5 0.5 0.5 - - - - 0.03473 0 0.114486 0 -0 0 - - - 1 1 1 - model://r1_rover/meshes/housing_link.STL - - - - 0.0 0.0 0.0 - 0.5 0.5 0.5 - - - - -0.1565 0.0762 0.114486 0 -0 0 - - - 1 1 1 - model://r1_rover/meshes/antenna_link.STL - - - - 0.0 0.0 0.0 - 0.5 0.5 0.5 - - - - -0.1565 -0.0762 0.114486 0 -0 0 - - - 1 1 1 - model://r1_rover/meshes/antenna_link.STL - - - - 0.0 0.0 0.0 - 0.5 0.5 0.5 - - - - - - - - 1 - - - 1 - 250 - - - 1 - 50 - - - - 0 - 0.01 - - - - - - - 0.15 0.16317 0.0215 0 -0 0 - - 0 0 0 1.57079632679 0 0 - 0.414 - - 0.00068682 - 0 - 0 - 0.00068682 - 0 - 0.00097299 - - - - 0 0 0 1.57079632679 0 0 - 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- - motor_3 - command/motor_speed - true - 0 - 10.0 - + + 0 0 0 0 -0 0 + + 0 0 0 0 -0 0 + 20.0 + + 0.37083 + 0.0 + 0.0 + 0.37083 + 0.0 + 0.53333 + + + + 0 0 0.15 0 -0 0 + + + 0.4 0.4 0.25 + + + + + + + + + + + + + 0 0 0 0 -0 0 + + + 1 1 1 + model://r1_rover/meshes/chassis_link.STL + + + + 1.0 1.0 1.0 + 1.0 1.0 1.0 + + + + 0 0 0.114486 0 -0 0 + + + 1 1 1 + model://r1_rover/meshes/top_link.STL + + + + 1.0 1.0 1.0 + 1.0 1.0 1.0 + + + + -0.09302 -0.000128 0.114486 0 -0 0 + + + 1 1 1 + model://r1_rover/meshes/battery_link.STL + + + + 0.0 0.0 0.0 + 0.5 0.5 0.5 + + + + 0.03473 0 0.114486 0 -0 0 + + + 1 1 1 + model://r1_rover/meshes/housing_link.STL + + + + 0.0 0.0 0.0 + 0.5 0.5 0.5 + + + + -0.1565 0.0762 0.114486 0 -0 0 + + + 1 1 1 + model://r1_rover/meshes/antenna_link.STL + + + + 0.0 0.0 0.0 + 0.5 0.5 0.5 + + + + -0.1565 -0.0762 0.114486 0 -0 0 + + + 1 1 1 + model://r1_rover/meshes/antenna_link.STL + + + + 0.0 0.0 0.0 + 0.5 0.5 0.5 + + + + + + + + 1 + + + 1 + 250 + + + 1 + 50 + + + + 0 + 0.01 + + + + + + 1 + 30 + + + + 0.15 0.16317 0.0215 0 -0 0 + + 0 0 0 1.57079632679 0 0 + 0.414 + + 0.00068682 + 0 + 0 + 0.00068682 + 0 + 0.00097299 + + + + 0 0 0 1.57079632679 0 0 + + + 0.0686 + 0.0762 + + + 1 + + + + 0.25 + 1 + 0.0686 + + + 1.0 + 1.0 + 1 0 0 + 0.0 + 0.0 + + + + 0 + 1e6 + + + + 0.001 + 0.0 + 1.0e6 + 100.0 + + + + + + 0 0 0 0 -0 0 + + + 1 1 1 + model://r1_rover/meshes/wheel_link.STL + + + + 0.0 0.0 0.0 + 0.5 0.5 0.5 + + + 1 + + + + lf_wheel_link + base_link + + 0 1 0 + + -1e+16 + 1e+16 + + + 0 + 0 + + 1 + + + + pose>-0.15 0.16317 0.0215 0 -0 0 + + 0 0 0 1.57079632679 0 0 + 0.414 + + 0.00068682 + 0 + 0 + 0.00068682 + 0 + 0.00097299 + + + + 0 0 0 1.57079632679 0 0 + + + 0.0686 + 0.0762 + + + 1 + + + + 0.25 + 1 + 0.0686 + + + 1.0 + 1.0 + 1 0 0 + 0.0 + 0.0 + + + + 0 + 1e6 + + + + 0.001 + 0.0 + 1.0e6 + 100.0 + + + + + + 0 0 0 0 -0 0 + + + 1 1 1 + model://r1_rover/meshes/wheel_link.STL + + + + 0.0 0.0 0.0 + 0.5 0.5 0.5 + + + 1 + + + + lb_wheel_link + base_link + + 0 1 0 + + -1e+16 + 1e+16 + + + 0 + 0 + + 1 + + + + 0.15 -0.16317 0.0215 0 -0 0 + + 0 0 0 1.57079632679 0 0 + 0.414 + + 0.00068682 + 0 + 0 + 0.00068682 + 0 + 0.00097299 + + + + pose>0 0 0 1.57079632679 0 0 + + + 0.0686 + 0.0762 + + + 1 + + + + 0.25 + 1 + 0.0686 + + + 1.0 + 1.0 + 1 0 0 + 0.0 + 0.0 + + + + 0 + 1e6 + + + + 0.001 + 0.0 + 1.0e6 + 100.0 + + + + + + 0 0 0 0 -0 0 + + + 1 1 1 + model://r1_rover/meshes/wheel_link.STL + + + + 0.0 0.0 0.0 + 0.5 0.5 0.5 + + + 1 + + + + rf_wheel_link + base_link + + 0 -1 0 + + -1e+16 + 1e+16 + + + 0 + 0 + + 1 + + + + -0.15 -0.16317 0.0215 0 -0 0 + + 0 0 0 1.57079632679 0 0 + 0.414 + + 0.00068682 + 0 + 0 + 0.00068682 + 0 + 0.00097299 + + + + 0 0 0 1.57079632679 0 0 + + + 0.0686 + 0.0762 + + + 1 + + + + 0.25 + 1 + 0.0686 + + + 1.0 + 1.0 + 1 0 0 + 0.0 + 0.0 + + + + 0 + 1e6 + + + + 0.001 + 1e8 + + + + + + 0 0 0 0 -0 0 + + + 1 1 1 + model://r1_rover/meshes/wheel_link.STL + + + + 0.0 0.0 0.0 + 0.5 0.5 0.5 + + + 1 + + + + rb_wheel_link + base_link + + 0 -1 0 + + -1e+16 + 1e+16 + + + 0 + 0 + + 1 + + + 0 + + motor_0 + command/motor_speed + true + 1 + 10.0 + + + motor_1 + command/motor_speed + true + 1 + 10.0 + + + motor_2 + command/motor_speed + true + 0 + 10.0 + + + motor_3 + command/motor_speed + true + 0 + 10.0 + + filename="gz-sim-joint-state-publisher-system" + name="gz::sim::systems::JointStatePublisher"> motor_0 motor_1 motor_2 motor_3 - + diff --git a/models/rc_cessna/model.sdf b/models/rc_cessna/model.sdf index 099ed777ec3c..dadeaa0c52ad 100644 --- a/models/rc_cessna/model.sdf +++ b/models/rc_cessna/model.sdf @@ -84,6 +84,10 @@ 1 250 + + 1 + 30 + 1 50 diff --git a/models/standard_vtol/model.sdf b/models/standard_vtol/model.sdf index 61f9d14d18ae..250cc67a0f2a 100644 --- a/models/standard_vtol/model.sdf +++ b/models/standard_vtol/model.sdf @@ -146,6 +146,10 @@ + + 1 + 30 + 0.35 -0.35 0.07 0 0 0 diff --git a/models/x500_base/model.sdf b/models/x500_base/model.sdf index 5e0830e59573..a7f2d15fb5a3 100644 --- a/models/x500_base/model.sdf +++ b/models/x500_base/model.sdf @@ -231,6 +231,10 @@ 1 250 + + 1 + 30 + true diff --git a/worlds/baylands.sdf b/worlds/baylands.sdf index 63db833b32c2..b60e574af3ca 100644 --- a/worlds/baylands.sdf +++ b/worlds/baylands.sdf @@ -12,6 +12,7 @@ + ogre2 @@ -73,22 +74,25 @@ 0.8 0.5 1 false + + true + + 1 - - true - 0 0 100 0 0.75 0 - 0.8 0.8 0.8 1 - 0.0 0.0 0.0 1 - 5 + + 0 0 500 0 -0 0 + false + 1 + 0.001 0.625 -0.78 + 0.904 0.904 0.904 1 + 0.271 0.271 0.271 1 - 100 - 0.9 - 0.01 - 0.001 + 2000 + 0 + 1 + 0 - -0.5 0.1 -0.9 - https://fuel.gazebosim.org/1.0/OpenRobotics/models/baylands @@ -103,7 +107,12 @@ 0 0 -2 0 0 0 park - + + EARTH_WGS84 + ENU + 37.412173071650805 + -121.998878727967 + diff --git a/worlds/default.sdf b/worlds/default.sdf index c8effff9cdd6..ca51728abe1a 100644 --- a/worlds/default.sdf +++ b/worlds/default.sdf @@ -12,6 +12,7 @@ + ogre2 @@ -144,6 +145,13 @@ 0 + + EARTH_WGS84 + ENU + 47.397971057728974 + 8.546163739800146 + 0 + diff --git a/worlds/windy.sdf b/worlds/windy.sdf index 1cbf66fb88bd..be403a59a444 100644 --- a/worlds/windy.sdf +++ b/worlds/windy.sdf @@ -12,6 +12,7 @@ + ogre2 @@ -145,7 +146,14 @@ - 10 10 10 + 10 10 10 + + EARTH_WGS84 + ENU + 47.397971057728974 + 8.546163739800146 + 0 +