Models: update world orientation and fixes for Harmonic

- Anemometer: use degrees.
- Gimbal 1D: use degrees in pose.
- Gimbal 2D: use degrees in pose.
- Parachute: update plugin filename.
- Iris: use degrees, replace -0 with 0.
- Iris: remove z-offset from iris_with_standoffs model.
  - Remove z-offset from iris_with_standoffs, so model origin is at CoM.
  - Set pose in world file.
- Zephyr: use degrees.
- Zephyr: update parachute plugin name.
- Zephyr: disable moment coefficient contribution.
  - Required due to changed behaviour in Gazebo Harmonic.
- Update gimbal pose in iris_with_gimbal world.
- Update iris_warehouse world.
- Forward port remaining changes from `main`.

Signed-off-by: Rhys Mainwaring <[email protected]>

models/gimbal_small_1d/model.sdf

@@ -108,7 +108,7 @@
         </geometry>
       </collision>
       <sensor name="camera" type="camera">
-        <pose>0 0 0 -1.57 -1.57 0</pose>
+        <pose degrees="true">0 0 0 -90 -90 0</pose>
         <camera>
           <horizontal_fov>2.0</horizontal_fov>
           <image>

models/gimbal_small_2d/model.sdf

@@ -144,7 +144,7 @@
         </geometry>
       </collision>
       <sensor name="camera" type="camera">
-        <pose>0 0 0 -1.57 -1.57 0</pose>
+        <pose degrees="true">0 0 0 -90 -90 0</pose>
         <camera>
           <horizontal_fov>2.0</horizontal_fov>
           <image>