From 8ce84f08222e3407ea6e38a75c664eaf58dc37a0 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= <caguero@openrobotics.org>
Date: Fri, 4 Aug 2023 19:00:59 +0200
Subject: [PATCH 1/7] Update changelog
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
---
 Changelog.md | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/Changelog.md b/Changelog.md
index 4372150c3..ecd0b3e96 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -14,6 +14,9 @@
 1. Create competition_mode argument
     * [Pull Request 710](https://github.com/osrf/vrx/pull/710)
 
+1. Resolve TF issues and enable RViz
+    * [Pull Request 698](https://github.com/osrf/vrx/pull/698)
+
 ### VRX 2.3.0
 
 1. Enhancements to Perception Task 

From 7aeb71d88dc36c2bc271488fc37bab3736cea09d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= <caguero@openrobotics.org>
Date: Fri, 4 Aug 2023 19:03:31 +0200
Subject: [PATCH 2/7] Update changelog
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
---
 Changelog.md | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/Changelog.md b/Changelog.md
index ecd0b3e96..ab3b5c408 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -17,6 +17,9 @@
 1. Resolve TF issues and enable RViz
     * [Pull Request 698](https://github.com/osrf/vrx/pull/698)
 
+1. Multi-vehicle fix
+    * [Pull Request 644](https://github.com/osrf/vrx/pull/644)
+
 ### VRX 2.3.0
 
 1. Enhancements to Perception Task 

From 3d1ecfcdede5ce8588a5ba8442983ba740b583ac Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= <caguero@openrobotics.org>
Date: Fri, 18 Aug 2023 16:04:11 +0200
Subject: [PATCH 3/7] Fix GPS/IMU update rates. (#723)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
---
 vrx_urdf/wamv_gazebo/urdf/components/wamv_gps.xacro | 4 ++--
 vrx_urdf/wamv_gazebo/urdf/components/wamv_imu.xacro | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/vrx_urdf/wamv_gazebo/urdf/components/wamv_gps.xacro b/vrx_urdf/wamv_gazebo/urdf/components/wamv_gps.xacro
index 1a6d9ab43..a7abf9903 100644
--- a/vrx_urdf/wamv_gazebo/urdf/components/wamv_gps.xacro
+++ b/vrx_urdf/wamv_gazebo/urdf/components/wamv_gps.xacro
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
   <xacro:macro name="wamv_gps" params="name:=gps x:=0.3 y:=0 z:=1.3
-				       R:=0 P:=0 Y:=0 update_rate:=15">
+				       R:=0 P:=0 Y:=0 update_rate:=20">
     <link name="${namespace}/${name}_link">
       <visual name="${name}_visual">
         <geometry>
@@ -38,7 +38,7 @@
     <gazebo reference="${namespace}/${name}_link">
       <sensor name="navsat" type="navsat">
         <always_on>1</always_on>
-        <update_rate>15</update_rate>
+        <update_rate>${update_rate}</update_rate>
         <!--<topic>${namespace}/${sensor_namespace}gps/gps/fix</topic>-->
       </sensor>
     </gazebo>
diff --git a/vrx_urdf/wamv_gazebo/urdf/components/wamv_imu.xacro b/vrx_urdf/wamv_gazebo/urdf/components/wamv_imu.xacro
index d8b8e1e78..88c948edb 100644
--- a/vrx_urdf/wamv_gazebo/urdf/components/wamv_imu.xacro
+++ b/vrx_urdf/wamv_gazebo/urdf/components/wamv_imu.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:macro name="wamv_imu" params="name:=imu x:=0.3 y:=0.5 z:=1.3 R:=0 P:=0 Y:=0 update_rate:=15">
+  <xacro:macro name="wamv_imu" params="name:=imu x:=0.3 y:=0.5 z:=1.3 R:=0 P:=0 Y:=0 update_rate:=100">
     <link name="${namespace}/${name}_link">
       <visual name="${name}_visual">>
         <geometry>

From eda0539d23e06767da1d5370e6cb85f0c62c8978 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= <caguero@openrobotics.org>
Date: Mon, 28 Aug 2023 19:01:28 +0200
Subject: [PATCH 4/7] Add license. (#720)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
Co-authored-by: M1chaelM <M1chaelM@users.noreply.github.com>
---
 LICENSE                                       | 178 ++++++++++++++++++
 .../practice_2023_stationkeeping1_task.sdf    |   2 +-
 .../practice_2023_wayfinding1_task.sdf        |   2 +-
 .../practice_2023_wayfinding2_task.sdf        |   2 +-
 4 files changed, 181 insertions(+), 3 deletions(-)
 create mode 100644 LICENSE

diff --git a/LICENSE b/LICENSE
new file mode 100644
index 000000000..4909afd04
--- /dev/null
+++ b/LICENSE
@@ -0,0 +1,178 @@
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
+
+      "License" shall mean the terms and conditions for use, reproduction,
+      and distribution as defined by Sections 1 through 9 of this document.
+
+      "Licensor" shall mean the copyright owner or entity authorized by
+      the copyright owner that is granting the License.
+
+      "Legal Entity" shall mean the union of the acting entity and all
+      other entities that control, are controlled by, or are under common
+      control with that entity. For the purposes of this definition,
+      "control" means (i) the power, direct or indirect, to cause the
+      direction or management of such entity, whether by contract or
+      otherwise, or (ii) ownership of fifty percent (50%) or more of the
+      outstanding shares, or (iii) beneficial ownership of such entity.
+
+      "You" (or "Your") shall mean an individual or Legal Entity
+      exercising permissions granted by this License.
+
+      "Source" form shall mean the preferred form for making modifications,
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+      "Contribution" shall mean any work of authorship, including
+      the original version of the Work and any modifications or additions
+      to that Work or Derivative Works thereof, that is intentionally
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+      any Contribution intentionally submitted for inclusion in the Work
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+      the terms of any separate license agreement you may have executed
+      with Licensor regarding such Contributions.
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+   6. Trademarks. This License does not grant permission to use the trade
+      names, trademarks, service marks, or product names of the Licensor,
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+      agreed to in writing, Licensor provides the Work (and each
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+      appropriateness of using or redistributing the Work and assume any
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+   8. Limitation of Liability. In no event and under no legal theory,
+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
+      liable to You for damages, including any direct, indirect, special,
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+      on Your own behalf and on Your sole responsibility, not on behalf
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+      defend, and hold each Contributor harmless for any liability
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+      of your accepting any such warranty or additional liability.
+
+   END OF TERMS AND CONDITIONS
+
+
diff --git a/vrx_gz/worlds/2023_practice/practice_2023_stationkeeping1_task.sdf b/vrx_gz/worlds/2023_practice/practice_2023_stationkeeping1_task.sdf
index 5710759e8..93b290146 100644
--- a/vrx_gz/worlds/2023_practice/practice_2023_stationkeeping1_task.sdf
+++ b/vrx_gz/worlds/2023_practice/practice_2023_stationkeeping1_task.sdf
@@ -1,7 +1,7 @@
 <?xml version="1.0" ?>
 
 <sdf version="1.9">
-  <world name="practice_2023_stationkeeping0_task">
+  <world name="practice_2023_stationkeeping1_task">
 
     <physics name="4ms" type="dart">
       <max_step_size>0.004</max_step_size>
diff --git a/vrx_gz/worlds/2023_practice/practice_2023_wayfinding1_task.sdf b/vrx_gz/worlds/2023_practice/practice_2023_wayfinding1_task.sdf
index 91c21793d..4b9ad1697 100644
--- a/vrx_gz/worlds/2023_practice/practice_2023_wayfinding1_task.sdf
+++ b/vrx_gz/worlds/2023_practice/practice_2023_wayfinding1_task.sdf
@@ -1,7 +1,7 @@
 <?xml version="1.0" ?>
 
 <sdf version="1.9">
-  <world name="practice_2023_wayfinding0_task">
+  <world name="practice_2023_wayfinding1_task">
 
     <physics name="4ms" type="dart">
       <max_step_size>0.004</max_step_size>
diff --git a/vrx_gz/worlds/2023_practice/practice_2023_wayfinding2_task.sdf b/vrx_gz/worlds/2023_practice/practice_2023_wayfinding2_task.sdf
index 5aaaaf464..b4fa60f28 100644
--- a/vrx_gz/worlds/2023_practice/practice_2023_wayfinding2_task.sdf
+++ b/vrx_gz/worlds/2023_practice/practice_2023_wayfinding2_task.sdf
@@ -1,7 +1,7 @@
 <?xml version="1.0" ?>
 
 <sdf version="1.9">
-  <world name="practice_2023_wayfinding0_task">
+  <world name="practice_2023_wayfinding2_task">
 
     <physics name="4ms" type="dart">
       <max_step_size>0.004</max_step_size>

From c860b9ad55c0b55b8a010cb402917d6eeb9a9bfd Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= <caguero@openrobotics.org>
Date: Mon, 28 Aug 2023 19:08:42 +0200
Subject: [PATCH 5/7] Update camera clip. (#728)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
---
 vrx_urdf/wamv_gazebo/urdf/components/wamv_camera.xacro | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/vrx_urdf/wamv_gazebo/urdf/components/wamv_camera.xacro b/vrx_urdf/wamv_gazebo/urdf/components/wamv_camera.xacro
index 1737ed7e2..ecc42dde3 100644
--- a/vrx_urdf/wamv_gazebo/urdf/components/wamv_camera.xacro
+++ b/vrx_urdf/wamv_gazebo/urdf/components/wamv_camera.xacro
@@ -167,7 +167,7 @@
           </image>
           <clip>
             <near>0.05</near>
-            <far>300</far>
+            <far>400</far>
           </clip>
           <noise>
             <type>gaussian</type>

From fa68b678c9816bc99911529fb116810517cf1890 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= <caguero@openrobotics.org>
Date: Tue, 29 Aug 2023 18:19:17 +0200
Subject: [PATCH 6/7] Update round buoys. (#727)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
---
 vrx_gz/models/obstacle_course/model.sdf       | 60 ++++++++--------
 .../short_navigation_course_0/model.sdf       |  4 +-
 .../short_navigation_course_1/model.sdf       | 28 ++++----
 .../short_navigation_course_2/model.sdf       | 68 +++++++++---------
 .../practice_2023_acoustic_tracking0_task.sdf | 40 +++++------
 .../practice_2023_acoustic_tracking1_task.sdf | 72 +++++++++----------
 .../practice_2023_acoustic_tracking2_task.sdf | 56 +++++++--------
 vrx_gz/worlds/acoustic_tracking_task.sdf      | 40 +++++------
 vrx_gz/worlds/stationkeeping_task.sdf         |  8 +--
 vrx_gz/worlds/sydney_regatta.sdf              | 20 +++---
 vrx_gz/worlds/wayfinding_task.sdf             |  8 +--
 11 files changed, 202 insertions(+), 202 deletions(-)

diff --git a/vrx_gz/models/obstacle_course/model.sdf b/vrx_gz/models/obstacle_course/model.sdf
index 6146645f3..67e72a144 100644
--- a/vrx_gz/models/obstacle_course/model.sdf
+++ b/vrx_gz/models/obstacle_course/model.sdf
@@ -11,14 +11,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -36,14 +36,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -61,14 +61,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -86,14 +86,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -111,14 +111,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -136,14 +136,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -161,14 +161,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -186,14 +186,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -211,14 +211,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -236,14 +236,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -261,14 +261,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -285,14 +285,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -311,14 +311,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -336,14 +336,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -361,14 +361,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
diff --git a/vrx_gz/models/short_navigation_course_0/model.sdf b/vrx_gz/models/short_navigation_course_0/model.sdf
index 26c4eed3e..919c8bf82 100644
--- a/vrx_gz/models/short_navigation_course_0/model.sdf
+++ b/vrx_gz/models/short_navigation_course_0/model.sdf
@@ -181,14 +181,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
diff --git a/vrx_gz/models/short_navigation_course_1/model.sdf b/vrx_gz/models/short_navigation_course_1/model.sdf
index c75311cbd..31859725a 100644
--- a/vrx_gz/models/short_navigation_course_1/model.sdf
+++ b/vrx_gz/models/short_navigation_course_1/model.sdf
@@ -502,14 +502,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -527,14 +527,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -552,14 +552,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -577,14 +577,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -602,14 +602,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -627,14 +627,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -652,14 +652,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
diff --git a/vrx_gz/models/short_navigation_course_2/model.sdf b/vrx_gz/models/short_navigation_course_2/model.sdf
index e4ab7c3de..fe183707d 100644
--- a/vrx_gz/models/short_navigation_course_2/model.sdf
+++ b/vrx_gz/models/short_navigation_course_2/model.sdf
@@ -745,14 +745,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -770,14 +770,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -795,14 +795,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -820,14 +820,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -845,14 +845,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -870,14 +870,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -895,14 +895,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -920,14 +920,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -945,14 +945,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -970,14 +970,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -995,14 +995,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -1020,14 +1020,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -1045,14 +1045,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -1070,14 +1070,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -1095,14 +1095,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -1120,14 +1120,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -1145,14 +1145,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
diff --git a/vrx_gz/worlds/2023_practice/practice_2023_acoustic_tracking0_task.sdf b/vrx_gz/worlds/2023_practice/practice_2023_acoustic_tracking0_task.sdf
index d83b8fa4f..24e39b6ec 100644
--- a/vrx_gz/worlds/2023_practice/practice_2023_acoustic_tracking0_task.sdf
+++ b/vrx_gz/worlds/2023_practice/practice_2023_acoustic_tracking0_task.sdf
@@ -431,14 +431,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -456,14 +456,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -481,14 +481,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -506,14 +506,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -531,14 +531,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -556,14 +556,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -581,14 +581,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -606,14 +606,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -631,14 +631,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -656,14 +656,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
diff --git a/vrx_gz/worlds/2023_practice/practice_2023_acoustic_tracking1_task.sdf b/vrx_gz/worlds/2023_practice/practice_2023_acoustic_tracking1_task.sdf
index 196c92053..097e77f06 100644
--- a/vrx_gz/worlds/2023_practice/practice_2023_acoustic_tracking1_task.sdf
+++ b/vrx_gz/worlds/2023_practice/practice_2023_acoustic_tracking1_task.sdf
@@ -431,14 +431,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -456,14 +456,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -481,14 +481,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -506,14 +506,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -531,14 +531,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -556,14 +556,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -582,14 +582,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -607,14 +607,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -633,14 +633,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -658,14 +658,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -683,14 +683,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -708,14 +708,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -733,14 +733,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -758,14 +758,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -783,14 +783,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -808,14 +808,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -833,14 +833,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -858,14 +858,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
diff --git a/vrx_gz/worlds/2023_practice/practice_2023_acoustic_tracking2_task.sdf b/vrx_gz/worlds/2023_practice/practice_2023_acoustic_tracking2_task.sdf
index 4451ac31b..6105cad19 100644
--- a/vrx_gz/worlds/2023_practice/practice_2023_acoustic_tracking2_task.sdf
+++ b/vrx_gz/worlds/2023_practice/practice_2023_acoustic_tracking2_task.sdf
@@ -431,14 +431,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -456,14 +456,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -481,14 +481,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -506,14 +506,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -531,14 +531,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -556,14 +556,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -581,14 +581,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -606,14 +606,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -631,14 +631,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -656,14 +656,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -681,14 +681,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -706,14 +706,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -731,14 +731,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -756,14 +756,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
diff --git a/vrx_gz/worlds/acoustic_tracking_task.sdf b/vrx_gz/worlds/acoustic_tracking_task.sdf
index 577be7554..1c7bc693d 100644
--- a/vrx_gz/worlds/acoustic_tracking_task.sdf
+++ b/vrx_gz/worlds/acoustic_tracking_task.sdf
@@ -431,14 +431,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -456,14 +456,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -481,14 +481,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -506,14 +506,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -531,14 +531,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -556,14 +556,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -581,14 +581,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -606,14 +606,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -631,14 +631,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -656,14 +656,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
diff --git a/vrx_gz/worlds/stationkeeping_task.sdf b/vrx_gz/worlds/stationkeeping_task.sdf
index c945e54b3..5efd46a96 100644
--- a/vrx_gz/worlds/stationkeeping_task.sdf
+++ b/vrx_gz/worlds/stationkeeping_task.sdf
@@ -474,14 +474,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -500,14 +500,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
diff --git a/vrx_gz/worlds/sydney_regatta.sdf b/vrx_gz/worlds/sydney_regatta.sdf
index 30dab75a2..112afc01e 100644
--- a/vrx_gz/worlds/sydney_regatta.sdf
+++ b/vrx_gz/worlds/sydney_regatta.sdf
@@ -354,7 +354,7 @@
 
     <include>
       <name>mb_marker_buoy_red</name>
-      <pose>-528 191 0 0 1.57 0</pose>
+      <pose>-528 191 0 0 0 0</pose>
       <uri>https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_red</uri>
 
       <plugin name="vrx::PolyhedraBuoyancyDrag"
@@ -381,7 +381,7 @@
 
     <include>
       <name>mb_marker_buoy_black</name>
-      <pose>-528 190 0 0 1.57 0</pose>
+      <pose>-528 190 0 0 0 0</pose>
       <uri>https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_black</uri>
 
       <plugin name="vrx::PolyhedraBuoyancyDrag"
@@ -408,7 +408,7 @@
 
     <include>
       <name>mb_marker_buoy_green</name>
-      <pose>-528 189 0 0 1.57 0</pose>
+      <pose>-528 189 0 0 0 0</pose>
       <uri>https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_green</uri>
 
       <plugin name="vrx::PolyhedraBuoyancyDrag"
@@ -435,7 +435,7 @@
 
     <include>
       <name>mb_marker_buoy_white</name>
-      <pose>-528 188 0 0 1.57 0</pose>
+      <pose>-528 188 0 0 0 0</pose>
       <uri>https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_white</uri>
 
       <plugin name="vrx::PolyhedraBuoyancyDrag"
@@ -462,21 +462,21 @@
 
     <include>
       <name>mb_round_buoy_orange</name>
-      <pose>-528 187 0 0 1.57 0</pose>
+      <pose>-528 187 0 0 0 0</pose>
       <uri>https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_orange</uri>
 
       <plugin name="vrx::PolyhedraBuoyancyDrag"
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -488,21 +488,21 @@
 
     <include>
       <name>mb_round_buoy_black</name>
-      <pose>-528 186 0 0 1.57 0</pose>
+      <pose>-528 186 0 0 0 0</pose>
       <uri>https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black</uri>
 
       <plugin name="vrx::PolyhedraBuoyancyDrag"
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
diff --git a/vrx_gz/worlds/wayfinding_task.sdf b/vrx_gz/worlds/wayfinding_task.sdf
index d8d04fa8b..8427ad70b 100644
--- a/vrx_gz/worlds/wayfinding_task.sdf
+++ b/vrx_gz/worlds/wayfinding_task.sdf
@@ -474,14 +474,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>
@@ -500,14 +500,14 @@
               filename="libPolyhedraBuoyancyDrag.so">
         <fluid_density>1000</fluid_density>
         <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
+        <linear_drag>75.0</linear_drag>
         <angular_drag>2.0</angular_drag>
         <buoyancy name="collision_outer">
           <link_name>link</link_name>
           <pose>0 0 0 0 0 0</pose>
           <geometry>
             <sphere>
-              <radius>0.25</radius>
+              <radius>0.21</radius>
           </sphere>
           </geometry>
         </buoyancy>

From b4c65e26a77eefc072129844869168b0a70dd07a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= <caguero@openrobotics.org>
Date: Thu, 31 Aug 2023 16:33:35 +0200
Subject: [PATCH 7/7] Changelog (#733)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
---
 Changelog.md | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/Changelog.md b/Changelog.md
index ab3b5c408..9006d4b4a 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -1,5 +1,16 @@
 ## VRX 2
 
+### VRX 2.3.2
+
+1. Update camera clip
+    * [Pull Request 728](https://github.com/osrf/vrx/pull/728)
+1. Buoy update
+    * [Pull Request 727](https://github.com/osrf/vrx/pull/727)
+1. Fix GPS/IMU update rates
+    * [Pull Request 723](https://github.com/osrf/vrx/pull/723)
+1. Add license
+    * [Pull Request 720](https://github.com/osrf/vrx/pull/720)
+
 ### VRX 2.3.1
 
 1. Fix simulation crash