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Models: update to sdf version 1.9
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- Update to SDF version 1.9.
- Update config <version> number.
- Remove element <use_parent_model_frame>

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
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@srmainwaring
srmainwaring committed May 8, 2023
1 parent 458d5d9 commit fc80e87
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Showing 28 changed files with 38 additions and 42 deletions.
2 changes: 1 addition & 1 deletion models/gimbal_small_1d/model.config
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<model>
<name>Gimbal Small 1D</name>
<version>2.0</version>
<sdf version="1.6">model.sdf</sdf>
<sdf version="1.9">model.sdf</sdf>
<author>
<name>anonymous</name>
<email>anonymous</email>
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2 changes: 1 addition & 1 deletion models/gimbal_small_1d/model.sdf
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<?xml version='1.0'?>
<sdf version='1.6'>
<sdf version='1.9'>
<model name='gimbal_small_1d'>
<pose>0 0 0.18 0 0 0</pose>
<link name='base_link'>
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2 changes: 1 addition & 1 deletion models/gimbal_small_2d/model.config
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<model>
<name>Gimbal Small 2D</name>
<version>2.0</version>
<sdf version="1.6">model.sdf</sdf>
<sdf version="1.9">model.sdf</sdf>
<author>
<name>anonymous</name>
<email>anonymous</email>
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2 changes: 1 addition & 1 deletion models/gimbal_small_2d/model.sdf
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<?xml version='1.0'?>
<sdf version='1.6'>
<sdf version='1.9'>
<model name='gimbal_small_2d'>
<pose>0 0 0.18 0 0 0</pose>
<link name='base_link'>
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4 changes: 2 additions & 2 deletions models/iris_with_ardupilot/model.config
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<model>
<name>Iris with ArduPilot</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<version>2.0</version>
<sdf version="1.9">model.sdf</sdf>

<author>
<name>Fadri Furrer</name>
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2 changes: 1 addition & 1 deletion models/iris_with_ardupilot/model.sdf
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<?xml version='1.0'?>
<sdf version="1.6">
<sdf version="1.9">
<model name="iris_with_ardupilot">
<include>
<uri>model://iris_with_standoffs</uri>
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8 changes: 4 additions & 4 deletions models/iris_with_gimbal/model.config
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<model>
<name>Iris with Gimbal</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<version>2.0</version>
<sdf version="1.9">model.sdf</sdf>

<author>
<name>Fadri Furrer</name>
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<depend>
<model>
<uri>model://gimbal_small_2d</uri>
<version>1.0</version>
<version>2.0</version>
</model>
<model>
<uri>model://iris_with_standoffs</uri>
<version>1.0</version>
<version>2.0</version>
</model>
</depend>
</model>
2 changes: 1 addition & 1 deletion models/iris_with_gimbal/model.sdf
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<?xml version='1.0'?>
<sdf version="1.6">
<sdf version="1.9">
<model name="iris_with_gimbal">
<include>
<uri>model://iris_with_standoffs</uri>
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4 changes: 2 additions & 2 deletions models/iris_with_standoffs/model.config
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<?xml version="1.0"?>
<model>
<name>Iris with Standoffs</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<version>2.0</version>
<sdf version="1.9">model.sdf</sdf>

<author>
<name>Fadri Furrer</name>
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6 changes: 1 addition & 5 deletions models/iris_with_standoffs/model.sdf
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<?xml version='1.0'?>
<sdf version='1.6'>
<sdf version='1.9'>
<model name='iris_with_standoffs'>
<pose>0 0 0.194923 0 0 0</pose>
<link name='base_link'>
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<dynamics>
<damping>0.004</damping>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
<physics>
<ode>
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<dynamics>
<damping>0.004</damping>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
<physics>
<ode>
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<dynamics>
<damping>0.004</damping>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
<physics>
<ode>
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<dynamics>
<damping>0.004</damping>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
<physics>
<ode>
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4 changes: 2 additions & 2 deletions models/parachute_small/model.config
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<model>
<name>Parachute small</name>
<version>1.0</version>
<sdf version="1.7">model.sdf</sdf>
<version>2.0</version>
<sdf version="1.9">model.sdf</sdf>
<license>Apache License, Version 2.0</license>
<author>
<name>Aurelien Roy</name>
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2 changes: 1 addition & 1 deletion models/parachute_small/model.sdf
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<?xml version="1.0" ?>
<sdf version="1.7">
<sdf version="1.9">
<model name="parachute_small">
<pose>0 0 0 0 0 0</pose>
<link name="chute">
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4 changes: 2 additions & 2 deletions models/runway/model.config
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<?xml version="1.0"?>
<model>
<name>Runway</name>
<version>1.0</version>
<sdf version="1.7">model.sdf</sdf>
<version>2.0</version>
<sdf version="1.9">model.sdf</sdf>

<author>
<name>Rhys Mainwaring</name>
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2 changes: 1 addition & 1 deletion models/runway/model.sdf
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<?xml version='1.0'?>
<sdf version="1.7">
<sdf version="1.9">
<model name="runway">
<static>true</static>
<link name="link">
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4 changes: 2 additions & 2 deletions models/zephyr/model.config
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<model>
<name>Zephyr Delta Wing</name>
<version>1.0</version>
<sdf version="1.7">model.sdf</sdf>
<version>2.0</version>
<sdf version="1.9">model.sdf</sdf>

<author>
<name>Cole Biesemeyer</name>
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2 changes: 1 addition & 1 deletion models/zephyr/model.sdf
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<?xml version="1.0" ?>
<sdf version="1.7">
<sdf version="1.9">
<model name="zephyr">
<link name="wing">
<inertial>
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4 changes: 2 additions & 2 deletions models/zephyr_with_ardupilot/model.config
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<model>
<name>Zephyr Delta Wing With Ardupilot</name>
<version>1.0</version>
<sdf version="1.7">model.sdf</sdf>
<version>2.0</version>
<sdf version="1.9">model.sdf</sdf>

<author>
<name>Cole Biesemeyer</name>
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2 changes: 1 addition & 1 deletion models/zephyr_with_ardupilot/model.sdf
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<?xml version="1.0" ?>
<sdf version="1.7">
<sdf version="1.9">
<model name="zephyr_with_ardupilot">
<include>
<uri>model://zephyr</uri>
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4 changes: 2 additions & 2 deletions models/zephyr_with_parachute/model.config
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<model>
<name>Zephyr Delta Wing With Parachute</name>
<version>1.0</version>
<sdf version="1.7">model.sdf</sdf>
<version>2.0</version>
<sdf version="1.9">model.sdf</sdf>

<author>
<name>Cole Biesemeyer</name>
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2 changes: 1 addition & 1 deletion models/zephyr_with_parachute/model.sdf
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<?xml version="1.0" ?>
<sdf version="1.7">
<sdf version="1.9">
<model name="zephyr_with_parachute">
<include>
<uri>model://zephyr</uri>
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2 changes: 1 addition & 1 deletion tests/worlds/test_anemometer.sdf
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MANUAL> module load sail
-->
<sdf version="1.7">
<sdf version="1.9">
<world name="test_anemometer">
<physics name="1ms" type="ignored">
<max_step_size>0.001</max_step_size>
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2 changes: 1 addition & 1 deletion tests/worlds/test_gimbal.sdf
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<?xml version="1.0" ?>
<sdf version="1.7">
<sdf version="1.9">
<world name="test_gimbal">
<physics name="1ms" type="ignore">
<max_step_size>0.001</max_step_size>
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2 changes: 1 addition & 1 deletion tests/worlds/test_nested_model.sdf
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gz topic -t "/rotor3_cmd" -m gz.msgs.Double -p "data: 1"
-->

<sdf version="1.7">
<sdf version="1.9">
<world name="test_nested_model">
<physics name="1ms" type="ignore">
<max_step_size>0.001</max_step_size>
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2 changes: 1 addition & 1 deletion tests/worlds/test_parachute.sdf
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gz topic -t /parachute/cmd_release -m gz.msgs.Double -p 'data:1.0'
-->
<sdf version="1.7">
<sdf version="1.9">
<world name="test_parachute">
<physics name="1ms" type="ignore">
<max_step_size>0.001</max_step_size>
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2 changes: 1 addition & 1 deletion worlds/iris_runway.sdf
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<?xml version="1.0" ?>
<sdf version="1.7">
<sdf version="1.9">
<world name="iris_runway">
<physics name="1ms" type="ignore">
<max_step_size>0.001</max_step_size>
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2 changes: 1 addition & 1 deletion worlds/iris_warehouse.sdf
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<?xml version="1.0" ?>
<sdf version="1.7">
<sdf version="1.9">
<world name="iris_warehouse">
<physics name="1ms" type="ignore">
<max_step_size>0.001</max_step_size>
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2 changes: 1 addition & 1 deletion worlds/zephyr_parachute.sdf
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FBWA> auto # switch to auto
AUTO> rc 9 1900 # manual parachute release
-->
<sdf version="1.7">
<sdf version="1.9">
<world name="zephyr_runway">
<physics name="1ms" type="ignore">
<max_step_size>0.001</max_step_size>
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2 changes: 1 addition & 1 deletion worlds/zephyr_runway.sdf
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<?xml version="1.0" ?>
<sdf version="1.7">
<sdf version="1.9">
<world name="zephyr_runway">
<physics name="1ms" type="ignore">
<max_step_size>0.001</max_step_size>
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