Standard Units of Measure and Coordinate Conventions in Gazebo

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As far as I know, there's no complete documentation like the ROS REP 103.

In general, Gazebo uses SI units, for example:

• length: meter (m)
• mass: kilogram (Kg)
• time: second (s)
• angle: radian (gazebo::math::Angle::Degree() to convert to degrees)
• force: Newton (N)

Coordinate frames are right-handed, with Z up, X forward and Y to the left.

Euler angles follow the roll (about X axis), pitch (about Y axis), yaw (about Z axis) order about a fixed reference frame.