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For 1), please see this page for resource paths.

For 2), gazebo is unit-less, as long as you pick a consistent set of units for all your models. That said, the PR2 is in meters.

The 0.2 scale for the wg model was arbitrarily chosen, the model was constructed in sketchup and things appeared to be scaled incorrectly without a scale.

For 1), please see this page for resource paths.

For 2), gazebo is unit-less, as long as you pick a consistent set of units for all your models. That said, the PR2 is in meters.

The 0.2 0.02 scale for the wg model was arbitrarily chosen, the model was constructed in sketchup and things appeared to be scaled incorrectly without a scale.