From 726bd7397857b33cc0ef04e4cff2356cafb6e13a Mon Sep 17 00:00:00 2001
From: Dharini Dutia <dharini@openrobotics.org>
Date: Fri, 18 Mar 2022 11:10:15 -0700
Subject: [PATCH 1/4] sprinkling new models around, ported to fuel db

Signed-off-by: Dharini Dutia <dharini@openrobotics.org>
---
 .../dave_worlds/worlds/dave_integrated.world  | 167 ++++++++++++++++--
 .../worlds/dave_ocean_models.world            |  27 ++-
 2 files changed, 170 insertions(+), 24 deletions(-)

diff --git a/models/dave_worlds/worlds/dave_integrated.world b/models/dave_worlds/worlds/dave_integrated.world
index 54102480..9b950cdf 100644
--- a/models/dave_worlds/worlds/dave_integrated.world
+++ b/models/dave_worlds/worlds/dave_integrated.world
@@ -207,15 +207,17 @@
 
     <gui fullscreen='0'>
       <camera name='user_camera'>
-        <pose frame=''>14.0 -26.0 -110.0 0.0 0.25 0.53</pose>
+        <pose frame=''>-35 -106.0 -84.0 0.0 0.226 1.206</pose>
         <view_controller>orbit</view_controller>
         <projection_type>perspective</projection_type>
       </camera>
     </gui>
 
     <include>
-      <uri>model://mud_anchor</uri>
       <name>mud_anchor</name>
+      <!-- <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Mud Anchor</uri> -->
+      <!-- Use the SDF in repo for inertial values not yet on Ignition Fuel -->
+      <uri>model://mud_anchor</uri>
       <pose>-78.2 -181 -130 -0.22 0.13 0.0</pose>
     </include>
 
@@ -270,48 +272,177 @@
     </model>
 
 
-    <!-- Models in the world -->
+    <!-- Other models in the world -->
+    <!-- Monitoring equipment -->
+    <include>
+      <name>mbari_mars</name>
+      <pose>13 6 -115 0 0 0</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/MBARI MARS</uri>
+    </include>
+
     <include>
-      <name>sunken_ship_1</name>
-      <pose>82 -150 -150 0 0 0</pose>
+      <name>flight_data_recorder</name>
+      <pose>7 5 -110 0 0 0</pose>
+      <!-- <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Flight Data Recorder</uri> -->
+      <!-- Use the SDF in repo for inertial values not yet on Ignition Fuel -->
+      <uri>model://flight_data_recorder</uri>
+    </include>
+
+    <include>
+      <name>niskin</name>
+      <pose>7 5 -110 0 0 0</pose>
+      <!--uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Niskin</uri-->
+      <!-- Use the SDF in repo for inertial values not yet on Ignition Fuel -->
+      <uri>model://niskin</uri>
+    </include>
+
+    <!-- Ocean creatures -->
+    <include>
+      <name>Lionfish1</name>
+      <pose>13 -12 -94 0 0 0</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Lionfish</uri>
+    </include>
+
+    <include>
+      <name>Lionfish2</name>
+      <pose>13 -12 -94 0 0 0</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Lionfish</uri>
+    </include>
+
+    <include>
+      <name>Coral</name>
+      <pose>13 -12 -118.3 0 0 0</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Coral01</uri>
+    </include>
+
+    <include>
+      <name>Kelp1</name>
+      <pose>13 -12 -118.3 0 0 0</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Kelp 01</uri>
+    </include>
+
+    <include>
+      <name>Kelp2</name>
+      <pose>12 -12 -118.3 0 0 0</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Kelp 02</uri>
+    </include>
+
+    <!-- Sunken ships and objects-->
+    <include>
+      <name>sunken_ship</name>
+      <pose>-75 -200 -147 0.25 0 0.65</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Sunken Ship</uri>
+    </include>
+
+    <include>
+      <name>sunken_ship_distorted</name>
+      <pose>-81 -219 -147 0.25 0 0.65</pose>
       <uri>model://sunken_ship_distorted</uri>
     </include>
 
-    <!-- <include>
+    <include>
+      <name>sunken_vase</name>
+      <pose>-73 -209 -147 0 0 0</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Sunken Vase</uri>
+    </include>
+
+    <include>
+      <name>sunken_vase_distorted</name>
+      <pose>-72 -214 -147 0 0 0</pose>
+      <!--uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Sunken Vase</uri-->
+      <!-- Use the SDF in repo for inertial values not yet on Ignition Fuel -->
+      <uri>model://sunken_vase_distorted</uri>
+    </include>
+
+    <include>
+      <name>sunken_vase2</name>
+      <pose>-72 -208 -147 0 0 0</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Sunken Vase 02</uri>
+    </include>
+
+    <!-- Ocean rocks -->
+    <include>
+      <name>Rock3</name>
+      <pose>26 182 -139 -1.55 0 0</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Ocean Rock 03</uri>
+    </include>
+
+    <!-- Hardhats -->
+    <include>
+      <name>hardhat_standard</name>
+      <pose>-185 115 -120 0 0 0</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Hardhat Standard</uri>
+    </include>
+
+     <include>
+      <name>hardhat_ribbed</name>
+      <pose>-185 116 -120 0 0 0</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Hardhat Ribbed</uri>
+    </include>
+
+    <include>
+      <name>hardhat_superribbed</name>
+      <pose>-184 115 -120 0 0 0</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Hardhat Superribbed</uri>
+    </include>
+
+    <include>
+      <name>hardhat_octagonal</name>
+      <pose>-184 116 -120 0 0 0</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Hardhat Octagonal</uri>
+    </include>
+
+    <!-- Military equipments -->
+    <include>
       <name>torpedo_mk46</name>
-      <pose>27 -16 -115 0 0 0</pose>
+      <pose>-158 100 -158 0 0 0</pose>
+      <!--uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Torpedo MK46</uri-->
+      <!-- Use the SDF in repo for inertial values not yet on Ignition Fuel -->
       <uri>model://torpedo_mk46</uri>
+      <static>true</static>
     </include>
 
     <include>
-      <name>sonobuoy</name>
-      <pose>23 -14 -115 0 0 0</pose>
-      <uri>model://sonobuoy</uri>
+      <name>torpedo_mk48</name>
+      <pose>-158 105 -158 0 0 0</pose>
+      <!--uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Torpedo MK48</uri-->
+      <!-- Use the SDF in repo for inertial values not yet on Ignition Fuel -->
+      <uri>model://torpedo_mk48</uri>
+      <static>true</static>
     </include>
 
     <include>
-      <name>flight_data_recorder</name>
-      <pose>26 -17 -115 0 0 0</pose>
-      <uri>model://flight_data_recorder</uri>
+      <name>sonobuoy</name>
+      <pose>-158 104 -158 0 0 0</pose>
+      <!--uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Sonobuoy</uri-->
+      <!-- Use the SDF in repo for inertial values not yet on Ignition Fuel -->
+      <uri>model://sonobuoy</uri>
+      <static>true</static>
     </include>
 
     <include>
       <name>uxo_a</name>
-      <pose>24 -15 -115 0 0 0</pose>
+      <pose>-140 103 -150 0 0 0</pose>
+      <!--uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Unexploded Ordnance A</uri-->
+      <!-- Use the SDF in repo for inertial values not yet on Ignition Fuel -->
       <uri>model://uxo_a</uri>
     </include>
 
     <include>
       <name>uxo_b</name>
-      <pose>26 -18 -115 0 0 0</pose>
+      <pose>-140 102 -150 0 0 0</pose>
+      <!--uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Unexploded Ordnance B</uri-->
+      <!-- Use the SDF in repo for inertial values not yet on Ignition Fuel -->
       <uri>model://uxo_b</uri>
     </include>
 
     <include>
       <name>uxo_c</name>
-      <pose>27 -17 -117 0 0 0</pose>
+      <pose>-140 101 -150 0 0 0</pose>
+      <!--uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Unexploded Ordnance C</uri-->
+      <!-- Use the SDF in repo for inertial values not yet on Ignition Fuel -->
       <uri>model://uxo_c</uri>
-    </include> -->
-
+    </include>
+    
   </world>
 </sdf>
diff --git a/models/dave_worlds/worlds/dave_ocean_models.world b/models/dave_worlds/worlds/dave_ocean_models.world
index 4685e04c..323fc6f1 100644
--- a/models/dave_worlds/worlds/dave_ocean_models.world
+++ b/models/dave_worlds/worlds/dave_ocean_models.world
@@ -132,76 +132,90 @@
     </gui>
 
     <!-- Add some models as examples -->
-     <include>
+    <include>
       <name>torpedo_mk46</name>
       <pose>13 -1 -94 0 0 0</pose>
+      <!-- <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Torpedo MK46</uri> -->
+      <!-- Use the SDF in repo for inertial values not yet on Ignition Fuel -->
       <uri>model://torpedo_mk46</uri>
     </include>
 
     <include>
       <name>torpedo_mk48</name>
       <pose>13 -1.5 -94 0 0 0</pose>
+      <!-- <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Torpedo MK48</uri> -->
+      <!-- Use the SDF in repo for inertial values not yet on Ignition Fuel -->
       <uri>model://torpedo_mk48</uri>
     </include>
 
     <include>
       <name>sonobuoy</name>
       <pose>13 -2 -94 0 0 0</pose>
+      <!-- <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Sonobuoy</uri> -->
+      <!-- Use the SDF in repo for inertial values not yet on Ignition Fuel -->
       <uri>model://sonobuoy</uri>
     </include>
 
     <include>
       <name>flight_data_recorder</name>
       <pose>13 -3 -94 0 0 0</pose>
+      <!-- <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Flight Data Recorder</uri> -->
+      <!-- Use the SDF in repo for inertial values not yet on Ignition Fuel -->
       <uri>model://flight_data_recorder</uri>
     </include>
 
     <include>
       <name>uxo_a</name>
       <pose>13 -4 -94 0 0 0</pose>
+      <!-- <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Unexploded Ordnance A</uri> -->
+      <!-- Use the SDF in repo for inertial values not yet on Ignition Fuel -->
       <uri>model://uxo_a</uri>
     </include>
 
     <include>
       <name>uxo_b</name>
       <pose>13 -5 -94 0 0 0</pose>
+      <!-- <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Unexploded Ordnance B</uri> -->
+      <!-- Use the SDF in repo for inertial values not yet on Ignition Fuel -->
       <uri>model://uxo_b</uri>
     </include>
 
     <include>
       <name>uxo_c</name>
       <pose>13 -6 -94 0 0 0</pose>
+      <!-- <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Unexploded Ordnance C</uri> -->
+      <!-- Use the SDF in repo for inertial values not yet on Ignition Fuel -->
       <uri>model://uxo_c</uri>
     </include>
 
     <include>
       <name>hardhat_standard</name>
       <pose>13 0 -94 0 0 0</pose>
-      <uri>model://hardhat_standard</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Hardhat Standard</uri>
     </include>
 
      <include>
       <name>hardhat_ribbed</name>
       <pose>13 1 -94 0 0 0</pose>
-      <uri>model://hardhat_ribbed</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Hardhat Ribbed</uri>
     </include>
 
     <include>
       <name>hardhat_superribbed</name>
       <pose>13 2 -94 0 0 0</pose>
-      <uri>model://hardhat_superribbed</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Hardhat Superribbed</uri>
     </include>
 
     <include>
       <name>hardhat_octagonal</name>
       <pose>13 3 -94 0 0 0</pose>
-      <uri>model://hardhat_octagonal</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Hardhat Octagonal</uri>
     </include>
 
     <include>
       <name>mbari_mars</name>
       <pose>13 6 -94 0 0 0</pose>
-      <uri>model://mbari_mars</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/MBARI MARS</uri>
     </include>
 
     <include>
@@ -209,6 +223,7 @@
       <!--uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Sunken Vase</uri-->
       <!-- Use the SDF in repo for inertial values not yet on Ignition Fuel -->
       <uri>model://sunken_vase</uri>
+      <!-- <uri>model://sunken_vase_distorted</uri> -->
     </include>
 
     <!-- Pending model fix upstream -->

From b667d2a5298bc7baa31425cc0b51ae23c40a147a Mon Sep 17 00:00:00 2001
From: quarkytale <dharini@openrobotics.org>
Date: Wed, 23 Mar 2022 10:40:38 -0700
Subject: [PATCH 2/4] using fuel links only and corrected lionfish pose

Signed-off-by: quarkytale <dharini@openrobotics.org>
---
 .../dave_worlds/worlds/dave_integrated.world  | 36 ++++++-------------
 .../worlds/dave_ocean_models.world            | 29 ++++-----------
 2 files changed, 17 insertions(+), 48 deletions(-)

diff --git a/models/dave_worlds/worlds/dave_integrated.world b/models/dave_worlds/worlds/dave_integrated.world
index 9b950cdf..96af4ee4 100644
--- a/models/dave_worlds/worlds/dave_integrated.world
+++ b/models/dave_worlds/worlds/dave_integrated.world
@@ -215,9 +215,7 @@
 
     <include>
       <name>mud_anchor</name>
-      <!-- <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Mud Anchor</uri> -->
-      <!-- Use the SDF in repo for inertial values not yet on Ignition Fuel -->
-      <uri>model://mud_anchor</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Mud Anchor</uri>
       <pose>-78.2 -181 -130 -0.22 0.13 0.0</pose>
     </include>
 
@@ -283,9 +281,7 @@
     <include>
       <name>flight_data_recorder</name>
       <pose>7 5 -110 0 0 0</pose>
-      <!-- <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Flight Data Recorder</uri> -->
-      <!-- Use the SDF in repo for inertial values not yet on Ignition Fuel -->
-      <uri>model://flight_data_recorder</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Flight Data Recorder</uri>
     </include>
 
     <include>
@@ -305,7 +301,7 @@
 
     <include>
       <name>Lionfish2</name>
-      <pose>13 -12 -94 0 0 0</pose>
+      <pose>13 -10 -94 0 0 0</pose>
       <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Lionfish</uri>
     </include>
 
@@ -392,56 +388,44 @@
       <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Hardhat Octagonal</uri>
     </include>
 
-    <!-- Military equipments -->
+    <!-- Military equipment -->
     <include>
       <name>torpedo_mk46</name>
       <pose>-158 100 -158 0 0 0</pose>
-      <!--uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Torpedo MK46</uri-->
-      <!-- Use the SDF in repo for inertial values not yet on Ignition Fuel -->
-      <uri>model://torpedo_mk46</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Torpedo MK46</uri>
       <static>true</static>
     </include>
 
     <include>
       <name>torpedo_mk48</name>
       <pose>-158 105 -158 0 0 0</pose>
-      <!--uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Torpedo MK48</uri-->
-      <!-- Use the SDF in repo for inertial values not yet on Ignition Fuel -->
-      <uri>model://torpedo_mk48</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Torpedo MK48</uri>
       <static>true</static>
     </include>
 
     <include>
       <name>sonobuoy</name>
       <pose>-158 104 -158 0 0 0</pose>
-      <!--uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Sonobuoy</uri-->
-      <!-- Use the SDF in repo for inertial values not yet on Ignition Fuel -->
-      <uri>model://sonobuoy</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Sonobuoy</uri>
       <static>true</static>
     </include>
 
     <include>
       <name>uxo_a</name>
       <pose>-140 103 -150 0 0 0</pose>
-      <!--uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Unexploded Ordnance A</uri-->
-      <!-- Use the SDF in repo for inertial values not yet on Ignition Fuel -->
-      <uri>model://uxo_a</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Unexploded Ordnance A</uri>
     </include>
 
     <include>
       <name>uxo_b</name>
       <pose>-140 102 -150 0 0 0</pose>
-      <!--uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Unexploded Ordnance B</uri-->
-      <!-- Use the SDF in repo for inertial values not yet on Ignition Fuel -->
-      <uri>model://uxo_b</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Unexploded Ordnance B</uri>
     </include>
 
     <include>
       <name>uxo_c</name>
       <pose>-140 101 -150 0 0 0</pose>
-      <!--uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Unexploded Ordnance C</uri-->
-      <!-- Use the SDF in repo for inertial values not yet on Ignition Fuel -->
-      <uri>model://uxo_c</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Unexploded Ordnance C</uri>
     </include>
     
   </world>
diff --git a/models/dave_worlds/worlds/dave_ocean_models.world b/models/dave_worlds/worlds/dave_ocean_models.world
index 323fc6f1..8f843664 100644
--- a/models/dave_worlds/worlds/dave_ocean_models.world
+++ b/models/dave_worlds/worlds/dave_ocean_models.world
@@ -135,57 +135,43 @@
     <include>
       <name>torpedo_mk46</name>
       <pose>13 -1 -94 0 0 0</pose>
-      <!-- <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Torpedo MK46</uri> -->
-      <!-- Use the SDF in repo for inertial values not yet on Ignition Fuel -->
-      <uri>model://torpedo_mk46</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Torpedo MK46</uri>
     </include>
 
     <include>
       <name>torpedo_mk48</name>
       <pose>13 -1.5 -94 0 0 0</pose>
-      <!-- <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Torpedo MK48</uri> -->
-      <!-- Use the SDF in repo for inertial values not yet on Ignition Fuel -->
-      <uri>model://torpedo_mk48</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Torpedo MK48</uri>
     </include>
 
     <include>
       <name>sonobuoy</name>
       <pose>13 -2 -94 0 0 0</pose>
-      <!-- <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Sonobuoy</uri> -->
-      <!-- Use the SDF in repo for inertial values not yet on Ignition Fuel -->
-      <uri>model://sonobuoy</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Sonobuoy</uri>
     </include>
 
     <include>
       <name>flight_data_recorder</name>
       <pose>13 -3 -94 0 0 0</pose>
-      <!-- <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Flight Data Recorder</uri> -->
-      <!-- Use the SDF in repo for inertial values not yet on Ignition Fuel -->
-      <uri>model://flight_data_recorder</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Flight Data Recorder</uri>
     </include>
 
     <include>
       <name>uxo_a</name>
       <pose>13 -4 -94 0 0 0</pose>
-      <!-- <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Unexploded Ordnance A</uri> -->
-      <!-- Use the SDF in repo for inertial values not yet on Ignition Fuel -->
-      <uri>model://uxo_a</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Unexploded Ordnance A</uri>
     </include>
 
     <include>
       <name>uxo_b</name>
       <pose>13 -5 -94 0 0 0</pose>
-      <!-- <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Unexploded Ordnance B</uri> -->
-      <!-- Use the SDF in repo for inertial values not yet on Ignition Fuel -->
-      <uri>model://uxo_b</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Unexploded Ordnance B</uri>
     </include>
 
     <include>
       <name>uxo_c</name>
       <pose>13 -6 -94 0 0 0</pose>
-      <!-- <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Unexploded Ordnance C</uri> -->
-      <!-- Use the SDF in repo for inertial values not yet on Ignition Fuel -->
-      <uri>model://uxo_c</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Unexploded Ordnance C</uri>
     </include>
 
     <include>
@@ -223,7 +209,6 @@
       <!--uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Sunken Vase</uri-->
       <!-- Use the SDF in repo for inertial values not yet on Ignition Fuel -->
       <uri>model://sunken_vase</uri>
-      <!-- <uri>model://sunken_vase_distorted</uri> -->
     </include>
 
     <!-- Pending model fix upstream -->

From 84fb535a9c0d88a6d21e6461e8fb0a8d7e1a5e9a Mon Sep 17 00:00:00 2001
From: quarkytale <dharini@openrobotics.org>
Date: Thu, 24 Mar 2022 22:51:36 -0700
Subject: [PATCH 3/4] static models and more ocean creatures

Signed-off-by: quarkytale <dharini@openrobotics.org>
---
 .../dave_worlds/worlds/dave_integrated.world  | 78 +++++++++++++------
 1 file changed, 56 insertions(+), 22 deletions(-)

diff --git a/models/dave_worlds/worlds/dave_integrated.world b/models/dave_worlds/worlds/dave_integrated.world
index 96af4ee4..c8ed70ca 100644
--- a/models/dave_worlds/worlds/dave_integrated.world
+++ b/models/dave_worlds/worlds/dave_integrated.world
@@ -274,19 +274,20 @@
     <!-- Monitoring equipment -->
     <include>
       <name>mbari_mars</name>
-      <pose>13 6 -115 0 0 0</pose>
+      <pose>13 6 -118 0 -0.15 0</pose>
       <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/MBARI MARS</uri>
+      <static>true</static>
     </include>
 
     <include>
       <name>flight_data_recorder</name>
-      <pose>7 5 -110 0 0 0</pose>
+      <pose>7 5 -117 0 0 0</pose>
       <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Flight Data Recorder</uri>
     </include>
 
     <include>
       <name>niskin</name>
-      <pose>7 5 -110 0 0 0</pose>
+      <pose>7 5 -117 0 0 0</pose>
       <!--uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Niskin</uri-->
       <!-- Use the SDF in repo for inertial values not yet on Ignition Fuel -->
       <uri>model://niskin</uri>
@@ -295,32 +296,30 @@
     <!-- Ocean creatures -->
     <include>
       <name>Lionfish1</name>
-      <pose>13 -12 -94 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Lionfish</uri>
-    </include>
-
-    <include>
-      <name>Lionfish2</name>
-      <pose>13 -10 -94 0 0 0</pose>
+      <pose>13 -11 -118 0 0 0</pose>
       <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Lionfish</uri>
+      <static>true</static>
     </include>
 
     <include>
-      <name>Coral</name>
+      <name>Coral1</name>
       <pose>13 -12 -118.3 0 0 0</pose>
       <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Coral01</uri>
+      <static>true</static>
     </include>
 
     <include>
       <name>Kelp1</name>
       <pose>13 -12 -118.3 0 0 0</pose>
       <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Kelp 01</uri>
+      <static>true</static>
     </include>
 
     <include>
       <name>Kelp2</name>
       <pose>12 -12 -118.3 0 0 0</pose>
       <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Kelp 02</uri>
+      <static>true</static>
     </include>
 
     <!-- Sunken ships and objects-->
@@ -328,12 +327,14 @@
       <name>sunken_ship</name>
       <pose>-75 -200 -147 0.25 0 0.65</pose>
       <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Sunken Ship</uri>
+      <static>true</static>
     </include>
 
     <include>
       <name>sunken_ship_distorted</name>
-      <pose>-81 -219 -147 0.25 0 0.65</pose>
+      <pose>17 -200 -150 0 0 0</pose>
       <uri>model://sunken_ship_distorted</uri>
+      <static>true</static>
     </include>
 
     <include>
@@ -356,36 +357,69 @@
       <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Sunken Vase 02</uri>
     </include>
 
+    <include>
+      <name>Lionfish2</name>
+      <pose>-72 -209 -147 0 0 0</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Lionfish</uri>
+      <static>true</static>
+    </include>
+
+    <include>
+      <name>Coral2</name>
+      <pose>-70 -208 -147.9 0.15 0 0</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Coral02</uri>
+      <static>true</static>
+    </include>
+
+    <include>
+      <name>Kelp3</name>
+      <pose>-70 -208 -148 0 0 0</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Kelp 03</uri>
+      <static>true</static>
+    </include>
+
+    <include>
+      <name>Kelp4</name>
+      <pose>-70 -209 -148 0 0 0</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Kelp 04</uri>
+      <static>true</static>
+    </include>
+
     <!-- Ocean rocks -->
     <include>
       <name>Rock3</name>
       <pose>26 182 -139 -1.55 0 0</pose>
       <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Ocean Rock 03</uri>
+      <static>true</static>
     </include>
 
     <!-- Hardhats -->
     <include>
       <name>hardhat_standard</name>
-      <pose>-185 115 -120 0 0 0</pose>
+      <pose>-185 115 -158.224 0 0 0</pose>
       <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Hardhat Standard</uri>
+      <static>true</static>
     </include>
 
      <include>
       <name>hardhat_ribbed</name>
-      <pose>-185 116 -120 0 0 0</pose>
+      <pose>-185 116 -158.238 0 0 0</pose>
       <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Hardhat Ribbed</uri>
+      <static>true</static>
     </include>
 
     <include>
       <name>hardhat_superribbed</name>
-      <pose>-184 115 -120 0 0 0</pose>
+      <pose>-184 115 -158.199 0 0 0</pose>
       <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Hardhat Superribbed</uri>
+      <static>true</static>
     </include>
 
     <include>
       <name>hardhat_octagonal</name>
-      <pose>-184 116 -120 0 0 0</pose>
+      <pose>-185.4 96 -158.106 1.13 -0105 0.245</pose>
       <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Hardhat Octagonal</uri>
+      <static>true</static>
     </include>
 
     <!-- Military equipment -->
@@ -393,39 +427,39 @@
       <name>torpedo_mk46</name>
       <pose>-158 100 -158 0 0 0</pose>
       <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Torpedo MK46</uri>
-      <static>true</static>
     </include>
 
     <include>
       <name>torpedo_mk48</name>
       <pose>-158 105 -158 0 0 0</pose>
       <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Torpedo MK48</uri>
-      <static>true</static>
     </include>
 
     <include>
       <name>sonobuoy</name>
       <pose>-158 104 -158 0 0 0</pose>
       <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Sonobuoy</uri>
-      <static>true</static>
     </include>
 
     <include>
       <name>uxo_a</name>
-      <pose>-140 103 -150 0 0 0</pose>
+      <pose>-140 103 -158 0 0 0</pose>
       <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Unexploded Ordnance A</uri>
+      <static>true</static>
     </include>
 
     <include>
       <name>uxo_b</name>
-      <pose>-140 102 -150 0 0 0</pose>
+      <pose>-140 102 -158 0 0 0</pose>
       <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Unexploded Ordnance B</uri>
+      <static>true</static>
     </include>
 
     <include>
       <name>uxo_c</name>
-      <pose>-140 101 -150 0 0 0</pose>
+      <pose>-140 101 -158 0 0 0</pose>
       <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Unexploded Ordnance C</uri>
+      <static>true</static>
     </include>
     
   </world>

From b419074ea63f6760908e7c83f6b0c0a7b968ac19 Mon Sep 17 00:00:00 2001
From: Yadunund <yadunund@openrobotics.org>
Date: Fri, 25 Mar 2022 16:03:32 +0800
Subject: [PATCH 4/4] Do not let models fall to the ground on startup. Better
 position models and update teleport script

Signed-off-by: Yadunund <yadunund@openrobotics.org>
---
 .../launch/dave_integrated_demo.launch        | 10 ++++----
 .../config/integrated_world_places.yaml       | 16 ++++++-------
 .../dave_worlds/worlds/dave_integrated.world  | 23 ++++++++++++-------
 3 files changed, 29 insertions(+), 20 deletions(-)

diff --git a/examples/dave_demo_launch/launch/dave_integrated_demo.launch b/examples/dave_demo_launch/launch/dave_integrated_demo.launch
index 40b75657..8727d579 100644
--- a/examples/dave_demo_launch/launch/dave_integrated_demo.launch
+++ b/examples/dave_demo_launch/launch/dave_integrated_demo.launch
@@ -39,10 +39,12 @@
     <!-- rexrov robot with oberon7 arm -->
     <include file="$(find rexrov_description)/launch/upload_rexrov_oberon7.launch">
         <arg name="namespace" value="rexrov0"/>
-        <arg name="x" value="-21.0"/>
-        <arg name="y" value="-34.0"/>
-        <arg name="z" value="-108.0"/>
-        <arg name="yaw" value="2.5"/>
+        <arg name="x" value="7.087382"/>
+        <arg name="y" value="-8.720616"/>
+        <arg name="z" value="-116.360490"/>
+        <arg name="roll" value="0.011443"/>
+        <arg name="pitch" value="0.060502"/>
+        <arg name="yaw" value="0.304482"/>
     </include>
 
     <!-- Velocity teleop (UUV stays in position when joystick is not used) -->
diff --git a/examples/dave_nodes/config/integrated_world_places.yaml b/examples/dave_nodes/config/integrated_world_places.yaml
index 0381082a..399fc61d 100644
--- a/examples/dave_nodes/config/integrated_world_places.yaml
+++ b/examples/dave_nodes/config/integrated_world_places.yaml
@@ -1,14 +1,14 @@
 # Config for teleport script
 places:
   home: {
-    'robot_pose': [-21,-34,-108,0,0,2.5],
-    'camera_pose': [-21,-34,-108,0,0,2.5]
+    'robot_pose': [7.087382,-8.720616,-116.360490,0.011443,0.060502,0.304482],
+    'camera_pose': [7.087382,-8.720616,-116.360490,0.011443,0.060502,0.304482]
   }
-  electrical: {
-    'robot_pose': [-187,117,-154,0,0,3.14],
-    'camera_pose': [-187,117,-154,0,0,3.14]
+  artillery: {
+    'robot_pose': [-150.113998,97.727378,-155.246244,-0.011886,0.016902,1.687642],
+    'camera_pose': [-150.113998,97.727378,-155.246244,-0.011886,0.016902,1.687642]
   }
   mud: {
-    'robot_pose': [-140,-190,-145,0,0,0],
-    'camera_pose':  [-140,-190,-145,0,0,0]
-  }
\ No newline at end of file
+    'robot_pose': [-66.099145,-208.337754,-145.292877,-0.010855,0.030645,-3.086439],
+    'camera_pose': [-66.099145,-208.337754,-145.292877,-0.010855,0.030645,-3.086439]
+  }
diff --git a/models/dave_worlds/worlds/dave_integrated.world b/models/dave_worlds/worlds/dave_integrated.world
index 656188c2..41691966 100644
--- a/models/dave_worlds/worlds/dave_integrated.world
+++ b/models/dave_worlds/worlds/dave_integrated.world
@@ -216,7 +216,7 @@
     <include>
       <name>mud_anchor</name>
       <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Mud Anchor</uri>
-      <pose>-78.2 -181 -130 -0.22 0.13 0.0</pose>
+      <pose>-68.759591 -208.309946 -147.679795 -0.072901 -1.166020 1.635320</pose>
     </include>
 
     <!-- Mud pit -->
@@ -274,23 +274,25 @@
     <!-- Monitoring equipment -->
     <include>
       <name>mbari_mars</name>
-      <pose>13 6 -118 0 -0.15 0</pose>
+      <pose>14.455148 -7.161097 -118.670557 -0.036799 0.065912 0.178707</pose>
       <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/MBARI MARS</uri>
       <static>true</static>
     </include>
 
     <include>
       <name>flight_data_recorder</name>
-      <pose>7 5 -117 0 0 0</pose>
+      <pose>9.044796 -6.663643 -118.380028 0 0 0</pose>
       <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Flight Data Recorder</uri>
+      <static>false</static>
     </include>
 
     <include>
       <name>niskin</name>
-      <pose>7 5 -117 0 0 0</pose>
+      <pose>9.046633 -7.605316 -118.217148 -0.918770 -1.547187 0</pose>
       <!--uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Niskin</uri-->
       <!-- Use the SDF in repo for inertial values not yet on Ignition Fuel -->
       <uri>model://niskin</uri>
+      <static>true</static>
     </include>
 
     <!-- Ocean creatures -->
@@ -339,22 +341,24 @@
 
     <include>
       <name>sunken_vase</name>
-      <pose>-73 -209 -147 0 0 0</pose>
+      <pose>-70.221956 -206.729503 -147.769372 0.102539 -0.035175 -0.004790</pose>
       <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Sunken Vase</uri>
     </include>
 
     <include>
       <name>sunken_vase_distorted</name>
-      <pose>-72 -214 -147 0 0 0</pose>
+      <pose>-72 -208.695 -148.1 -0.757396 0.467511 -0.402810</pose>
       <!--uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Sunken Vase</uri-->
       <!-- Use the SDF in repo for inertial values not yet on Ignition Fuel -->
       <uri>model://sunken_vase_distorted</uri>
+      <static>true</static>
     </include>
 
     <include>
       <name>sunken_vase2</name>
-      <pose>-72 -208 -147 0 0 0</pose>
+      <pose>-72 -208 -148 -0.932434 -0.195466 0.528508</pose>
       <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Sunken Vase 02</uri>
+      <static>true</static>
     </include>
 
     <include>
@@ -427,18 +431,21 @@
       <name>torpedo_mk46</name>
       <pose>-158 100 -158 0 0 0</pose>
       <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Torpedo MK46</uri>
+      <static>true</static>
     </include>
 
     <include>
       <name>torpedo_mk48</name>
       <pose>-158 105 -158 0 0 0</pose>
       <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Torpedo MK48</uri>
+      <static>true</static>
     </include>
 
     <include>
       <name>sonobuoy</name>
       <pose>-158 104 -158 0 0 0</pose>
       <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Sonobuoy</uri>
+      <static>true</static>
     </include>
 
     <include>
@@ -461,6 +468,6 @@
       <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Unexploded Ordnance C</uri>
       <static>true</static>
     </include>
-    
+
   </world>
 </sdf>