Change the sdf model

I want to do a simulation of the handling of a drone, and would like to know if it is possible to add payload and ropes to the drone by modifying the sdf file, so as to realise the simulation of the drone with the payload and visualise it inside Gazebo.

That’s all possible but you’ll have to learn how to modify the sdf file (and note that there is sometimes a .sdf.jinja file) that you need to edit instead, which then in turns generates the .sdf file.