hills-multi-drone.world

<sdf version='1.7'>
  <world name='default'>
    <physics type='ode'>
      <ode>
        <solver>
          <type>quick</type>
          <iters>100</iters>
          <sor>1</sor>
          <use_dynamic_moi_rescaling>0</use_dynamic_moi_rescaling>
        </solver>
        <constraints>
          <cfm>0</cfm>
          <erp>0.9</erp>
          <contact_max_correcting_vel>0.1</contact_max_correcting_vel>
          <contact_surface_layer>0</contact_surface_layer>
        </constraints>
      </ode>
      <real_time_update_rate>-1</real_time_update_rate>
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1</real_time_factor>
    </physics>
    <light name='sun' type='directional'>
      <cast_shadows>1</cast_shadows>
      <pose>0 0 10 0 -0 0</pose>
      <diffuse>0.8 0.8 0.8 1</diffuse>
      <specular>0.2 0.2 0.2 1</specular>
      <attenuation>
        <range>1000</range>
        <constant>0.9</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <direction>-0.5 0.1 -0.9</direction>
      <spot>
        <inner_angle>0</inner_angle>
        <outer_angle>0</outer_angle>
        <falloff>0</falloff>
      </spot>
    </light>
    <model name='iris'>
      <frame name='iris_demo::__model__' attached_to='iris_demo::iris::base_link'>
        <pose relative_to='__model__'>0 0 0 0 -0 0</pose>
      </frame>
      <frame name='iris_demo::iris::__model__' attached_to='iris_demo::iris::base_link'>
        <pose relative_to='iris_demo::__model__'>0 0 0.194923 0 -0 0</pose>
      </frame>
      <link name='iris_demo::iris::base_link'>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <inertial>
          <pose>0 0 0 0 -0 0</pose>
          <mass>1.5</mass>
          <inertia>
            <ixx>0.008</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.015</iyy>
            <iyz>0</iyz>
            <izz>0.017</izz>
          </inertia>
        </inertial>
        <collision name='base_link_collision'>
          <pose>0 0 -0.08 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.47 0.47 0.23</size>
            </box>
          </geometry>
          <surface>
            <contact>
              <ode>
                <max_vel>100</max_vel>
                <min_depth>0.001</min_depth>
              </ode>
            </contact>
            <friction>
              <ode>
                <mu>100000</mu>
                <mu2>100000</mu2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='base_link_visual'>
          <geometry>
            <mesh>
              <uri>model://iris_with_standoffs/meshes/iris.dae</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <name>Gazebo/DarkGrey</name>
              <uri>__default__</uri>
            </script>
          </material>
        </visual>
        <visual name='front_left_leg_visual'>
          <pose>0.123 0.22 -0.11 0 -0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.005</radius>
              <length>0.17</length>
            </cylinder>
          </geometry>
          <material>
            <script>
              <name>Gazebo/FlatBlack</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
        <visual name='front_right_leg_visual'>
          <pose>0.123 -0.22 -0.11 0 -0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.005</radius>
              <length>0.17</length>
            </cylinder>
          </geometry>
          <material>
            <script>
              <name>Gazebo/FlatBlack</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
        <visual name='rear_left_leg_visual'>
          <pose>-0.14 0.21 -0.11 0 -0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.005</radius>
              <length>0.17</length>
            </cylinder>
          </geometry>
          <material>
            <script>
              <name>Gazebo/FlatBlack</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
        <visual name='rear_right_leg_visual'>
          <pose>-0.14 -0.21 -0.11 0 -0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.005</radius>
              <length>0.17</length>
            </cylinder>
          </geometry>
          <material>
            <script>
              <name>Gazebo/FlatBlack</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
        <pose relative_to='iris_demo::iris::__model__'>0 0 0 0 -0 0</pose>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <link name='iris_demo::iris::iris/ground_truth/odometry_sensorgt_link'>
        <pose relative_to='iris_demo::iris::__model__'>0 0 0 0 -0 0</pose>
        <inertial>
          <pose>0 0 0 0 -0 0</pose>
          <mass>0.15</mass>
          <inertia>
            <ixx>0.0001</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.0002</iyy>
            <iyz>0</iyz>
            <izz>0.0002</izz>
          </inertia>
        </inertial>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <joint name='iris_demo::iris::iris/ground_truth/odometry_sensorgt_joint' type='revolute'>
        <child>iris_demo::iris::iris/ground_truth/odometry_sensorgt_link</child>
        <parent>iris_demo::iris::base_link</parent>
        <axis>
          <xyz expressed_in='iris_demo::iris::__model__'>0 0 1</xyz>
          <limit>
            <lower>0</lower>
            <upper>0</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <dynamics>
            <damping>1</damping>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
        </axis>
        <physics>
          <ode>
            <implicit_spring_damper>1</implicit_spring_damper>
            <limit>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </limit>
          </ode>
        </physics>
      </joint>
      <link name='iris_demo::iris::iris/imu_link'>
        <inertial>
          <pose>0 0 0 0 -0 0</pose>
          <mass>0.15</mass>
          <inertia>
            <ixx>1e-05</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>2e-05</iyy>
            <iyz>0</iyz>
            <izz>2e-05</izz>
          </inertia>
        </inertial>
        <sensor name='imu_sensor' type='imu'>
          <pose>0 0 0 -3.14159 -0 0</pose>
          <always_on>1</always_on>
          <update_rate>1000</update_rate>
          <imu/>
        </sensor>
        <pose relative_to='iris_demo::iris::__model__'>0 0 0 0 -0 0</pose>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <joint name='iris_demo::iris::iris/imu_joint' type='revolute'>
        <child>iris_demo::iris::iris/imu_link</child>
        <parent>iris_demo::iris::base_link</parent>
        <axis>
          <xyz expressed_in='iris_demo::iris::__model__'>0 0 1</xyz>
          <limit>
            <lower>0</lower>
            <upper>0</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <dynamics>
            <damping>1</damping>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
        </axis>
        <physics>
          <ode>
            <implicit_spring_damper>1</implicit_spring_damper>
            <limit>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </limit>
          </ode>
        </physics>
      </joint>
      <link name='iris_demo::iris::rotor_0'>
        <pose relative_to='iris_demo::iris::__model__'>0.13 -0.22 0.023 0 -0 0</pose>
        <inertial>
          <pose>0 0 0 0 -0 0</pose>
          <mass>0.025</mass>
          <inertia>
            <ixx>9.75e-06</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.000166704</iyy>
            <iyz>0</iyz>
            <izz>0.000167604</izz>
          </inertia>
        </inertial>
        <collision name='rotor_0_collision'>
          <pose>0 0 0 0 -0 0</pose>
          <geometry>
            <cylinder>
              <length>0.005</length>
              <radius>0.1</radius>
            </cylinder>
          </geometry>
          <surface>
            <contact>
              <ode/>
            </contact>
            <friction>
              <ode/>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='rotor_0_visual'>
          <pose>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>model://iris_with_standoffs/meshes/iris_prop_ccw.dae</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Blue</name>
              <uri>__default__</uri>
            </script>
          </material>
        </visual>
        <gravity>1</gravity>
        <velocity_decay/>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <joint name='iris_demo::iris::rotor_0_joint' type='revolute'>
        <child>iris_demo::iris::rotor_0</child>
        <parent>iris_demo::iris::base_link</parent>
        <axis>
          <xyz expressed_in='iris_demo::iris::__model__'>0 0 1</xyz>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <dynamics>
            <damping>0.004</damping>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
        </axis>
        <physics>
          <ode>
            <implicit_spring_damper>1</implicit_spring_damper>
            <limit>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </limit>
          </ode>
        </physics>
      </joint>
      <link name='iris_demo::iris::rotor_1'>
        <pose relative_to='iris_demo::iris::__model__'>-0.13 0.2 0.023 0 -0 0</pose>
        <inertial>
          <pose>0 0 0 0 -0 0</pose>
          <mass>0.025</mass>
          <inertia>
            <ixx>9.75e-06</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.000166704</iyy>
            <iyz>0</iyz>
            <izz>0.000167604</izz>
          </inertia>
        </inertial>
        <collision name='rotor_1_collision'>
          <pose>0 0 0 0 -0 0</pose>
          <geometry>
            <cylinder>
              <length>0.005</length>
              <radius>0.1</radius>
            </cylinder>
          </geometry>
          <surface>
            <contact>
              <ode/>
            </contact>
            <friction>
              <ode/>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='rotor_1_visual'>
          <pose>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>model://iris_with_standoffs/meshes/iris_prop_ccw.dae</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <name>Gazebo/DarkGrey</name>
              <uri>__default__</uri>
            </script>
          </material>
        </visual>
        <gravity>1</gravity>
        <velocity_decay/>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <joint name='iris_demo::iris::rotor_1_joint' type='revolute'>
        <child>iris_demo::iris::rotor_1</child>
        <parent>iris_demo::iris::base_link</parent>
        <axis>
          <xyz expressed_in='iris_demo::iris::__model__'>0 0 1</xyz>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <dynamics>
            <damping>0.004</damping>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
        </axis>
        <physics>
          <ode>
            <implicit_spring_damper>1</implicit_spring_damper>
            <limit>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </limit>
          </ode>
        </physics>
      </joint>
      <link name='iris_demo::iris::rotor_2'>
        <pose relative_to='iris_demo::iris::__model__'>0.13 0.22 0.023 0 -0 0</pose>
        <inertial>
          <pose>0 0 0 0 -0 0</pose>
          <mass>0.025</mass>
          <inertia>
            <ixx>9.75e-06</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.000166704</iyy>
            <iyz>0</iyz>
            <izz>0.000167604</izz>
          </inertia>
        </inertial>
        <collision name='rotor_2_collision'>
          <pose>0 0 0 0 -0 0</pose>
          <geometry>
            <cylinder>
              <length>0.005</length>
              <radius>0.1</radius>
            </cylinder>
          </geometry>
          <surface>
            <contact>
              <ode/>
            </contact>
            <friction>
              <ode/>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='rotor_2_visual'>
          <pose>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>model://iris_with_standoffs/meshes/iris_prop_cw.dae</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Blue</name>
              <uri>__default__</uri>
            </script>
          </material>
        </visual>
        <gravity>1</gravity>
        <velocity_decay/>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <joint name='iris_demo::iris::rotor_2_joint' type='revolute'>
        <child>iris_demo::iris::rotor_2</child>
        <parent>iris_demo::iris::base_link</parent>
        <axis>
          <xyz expressed_in='iris_demo::iris::__model__'>0 0 1</xyz>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <dynamics>
            <damping>0.004</damping>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
        </axis>
        <physics>
          <ode>
            <implicit_spring_damper>1</implicit_spring_damper>
            <limit>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </limit>
          </ode>
        </physics>
      </joint>
      <link name='iris_demo::iris::rotor_3'>
        <pose relative_to='iris_demo::iris::__model__'>-0.13 -0.2 0.023 0 -0 0</pose>
        <inertial>
          <pose>0 0 0 0 -0 0</pose>
          <mass>0.025</mass>
          <inertia>
            <ixx>9.75e-06</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.000166704</iyy>
            <iyz>0</iyz>
            <izz>0.000167604</izz>
          </inertia>
        </inertial>
        <collision name='rotor_3_collision'>
          <pose>0 0 0 0 -0 0</pose>
          <geometry>
            <cylinder>
              <length>0.005</length>
              <radius>0.1</radius>
            </cylinder>
          </geometry>
          <surface>
            <contact>
              <ode/>
            </contact>
            <friction>
              <ode/>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='rotor_3_visual'>
          <pose>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>model://iris_with_standoffs/meshes/iris_prop_cw.dae</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <name>Gazebo/DarkGrey</name>
              <uri>__default__</uri>
            </script>
          </material>
        </visual>
        <gravity>1</gravity>
        <velocity_decay/>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <joint name='iris_demo::iris::rotor_3_joint' type='revolute'>
        <child>iris_demo::iris::rotor_3</child>
        <parent>iris_demo::iris::base_link</parent>
        <axis>
          <xyz expressed_in='iris_demo::iris::__model__'>0 0 1</xyz>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <dynamics>
            <damping>0.004</damping>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
        </axis>
        <physics>
          <ode>
            <implicit_spring_damper>1</implicit_spring_damper>
            <limit>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </limit>
          </ode>
        </physics>
      </joint>
      <static>0</static>
      <frame name='iris_demo::gimbal_small_2d::__model__' attached_to='iris_demo::gimbal_small_2d::base_link'>
        <pose relative_to='iris_demo::__model__'>0 -0.01 0.07 1.57 -0 1.57</pose>
      </frame>
      <link name='iris_demo::gimbal_small_2d::base_link'>
        <inertial>
          <mass>0.2</mass>
          <inertia>
            <ixx>0.0001</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.0001</iyy>
            <iyz>0</iyz>
            <izz>0.0001</izz>
          </inertia>
          <pose>0 0 0 0 -0 0</pose>
        </inertial>
        <visual name='base_main_viz'>
          <geometry>
            <mesh>
              <scale>0.001 0.001 0.001</scale>
              <uri>model://gimbal_small_2d/meshes/base_main.dae</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/FlatBlack</name>
            </script>
          </material>
        </visual>
        <visual name='base_arm_viz'>
          <geometry>
            <mesh>
              <scale>0.001 0.001 0.001</scale>
              <uri>model://gimbal_small_2d/meshes/base_arm.dae</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/FlatBlack</name>
            </script>
          </material>
        </visual>
        <collision name='base_col'>
          <pose>0.01 0.075 -0.025 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.1 0.05 0.15</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode/>
            </contact>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <pose relative_to='iris_demo::gimbal_small_2d::__model__'>0 0 0 0 -0 0</pose>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <link name='iris_demo::gimbal_small_2d::tilt_link'>
        <inertial>
          <mass>0.01</mass>
          <inertia>
            <ixx>1e-05</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>1e-05</iyy>
            <iyz>0</iyz>
            <izz>1e-05</izz>
          </inertia>
          <pose>0 0 0 0 -0 0</pose>
        </inertial>
        <visual name='tilt_viz'>
          <pose>0 0 -0.005 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>0.001 0.001 0.001</scale>
              <uri>model://gimbal_small_2d/meshes/tilt.dae</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
        <collision name='tilt_col'>
          <pose>0 0 -0.005 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>0.001 0.001 0.001</scale>
              <uri>model://gimbal_small_2d/meshes/tilt.dae</uri>
            </mesh>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='camera_viz'>
          <pose>0 0 0.02 0 -0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.025</radius>
              <length>0.05</length>
            </cylinder>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
        <collision name='camera_col'>
          <pose>0 0 0.02 0 -0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.025</radius>
              <length>0.05</length>
            </cylinder>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <sensor name='camera' type='camera'>
          <pose>0 0 0 -1.57 -1.57 0</pose>
          <camera>
            <horizontal_fov>2</horizontal_fov>
            <image>
              <width>640</width>
              <height>480</height>
            </image>
            <clip>
              <near>0.05</near>
              <far>15000</far>
            </clip>
          </camera>
          <always_on>1</always_on>
          <update_rate>10</update_rate>
          <visualize>1</visualize>
        </sensor>
        <pose relative_to='iris_demo::gimbal_small_2d::__model__'>0 0 0 0 -0 0</pose>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <joint name='iris_demo::gimbal_small_2d::tilt_joint' type='revolute'>
        <parent>iris_demo::gimbal_small_2d::base_link</parent>
        <child>iris_demo::gimbal_small_2d::tilt_link</child>
        <physics>
          <ode>
            <implicit_spring_damper>1</implicit_spring_damper>
            <limit>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </limit>
          </ode>
        </physics>
        <axis>
          <xyz expressed_in='iris_demo::gimbal_small_2d::__model__'>1 0 0</xyz>
          <dynamics>
            <damping>0.5</damping>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <limit>
            <lower>-0.1</lower>
            <upper>3.14159</upper>
            <effort>10</effort>
            <velocity>-1</velocity>
          </limit>
        </axis>
        <pose>0 0 0.02 0 -0 0</pose>
      </joint>
      <plugin name='gimbal_small_2d' filename='libGimbalSmall2dPlugin.so'>
        <joint>iris_demo::gimbal_small_2d::tilt_joint</joint>
      </plugin>
      <joint name='iris_demo::iris_gimbal_mount' type='revolute'>
        <parent>iris_demo::iris::base_link</parent>
        <child>iris_demo::gimbal_small_2d::base_link</child>
        <axis>
          <limit>
            <lower>0</lower>
            <upper>0</upper>
          </limit>
          <xyz expressed_in='iris_demo::__model__'>0 0 1</xyz>
          <dynamics>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
        </axis>
      </joint>
      <plugin name='rotor_0_blade_1' filename='libLiftDragPlugin.so'>
        <a0>0.1</a0>
        <alpha_stall>1.4</alpha_stall>
        <cla>0.2500</cla>
        <cda>0.10</cda>
        <cma>0.00</cma>
        <cla_stall>-0.025</cla_stall>
        <cda_stall>0.0</cda_stall>
        <cma_stall>0.0</cma_stall>
        <area>0.2</area>
        <air_density>1.2041</air_density>
        <cp>0.084 0 0</cp>
        <forward>0 1 0</forward>
        <upward>0 0 1</upward>
        <link_name>iris_demo::iris::rotor_0</link_name>
      </plugin>
      <plugin name='rotor_0_blade_2' filename='libLiftDragPlugin.so'>
        <a0>0.1</a0>
        <alpha_stall>1.4</alpha_stall>
        <cla>0.2500</cla>
        <cda>0.10</cda>
        <cma>0.00</cma>
        <cla_stall>-0.025</cla_stall>
        <cda_stall>0.0</cda_stall>
        <cma_stall>0.0</cma_stall>
        <area>0.2</area>
        <air_density>1.2041</air_density>
        <cp>-0.084 0 0</cp>
        <forward>0 -1 0</forward>
        <upward>0 0 1</upward>
        <link_name>iris_demo::iris::rotor_0</link_name>
      </plugin>
      <plugin name='rotor_1_blade_1' filename='libLiftDragPlugin.so'>
        <a0>0.1</a0>
        <alpha_stall>1.4</alpha_stall>
        <cla>0.2500</cla>
        <cda>0.10</cda>
        <cma>0.00</cma>
        <cla_stall>-0.025</cla_stall>
        <cda_stall>0.0</cda_stall>
        <cma_stall>0.0</cma_stall>
        <area>0.2</area>
        <air_density>1.2041</air_density>
        <cp>0.084 0 0</cp>
        <forward>0 1 0</forward>
        <upward>0 0 1</upward>
        <link_name>iris_demo::iris::rotor_1</link_name>
      </plugin>
      <plugin name='rotor_1_blade_2' filename='libLiftDragPlugin.so'>
        <a0>0.1</a0>
        <alpha_stall>1.4</alpha_stall>
        <cla>0.2500</cla>
        <cda>0.10</cda>
        <cma>0.00</cma>
        <cla_stall>-0.025</cla_stall>
        <cda_stall>0.0</cda_stall>
        <cma_stall>0.0</cma_stall>
        <area>0.2</area>
        <air_density>1.2041</air_density>
        <cp>-0.084 0 0</cp>
        <forward>0 -1 0</forward>
        <upward>0 0 1</upward>
        <link_name>iris_demo::iris::rotor_1</link_name>
      </plugin>
      <plugin name='rotor_2_blade_1' filename='libLiftDragPlugin.so'>
        <a0>0.1</a0>
        <alpha_stall>1.4</alpha_stall>
        <cla>0.2500</cla>
        <cda>0.10</cda>
        <cma>0.00</cma>
        <cla_stall>-0.025</cla_stall>
        <cda_stall>0.0</cda_stall>
        <cma_stall>0.0</cma_stall>
        <area>0.2</area>
        <air_density>1.2041</air_density>
        <cp>0.084 0 0</cp>
        <forward>0 -1 0</forward>
        <upward>0 0 1</upward>
        <link_name>iris_demo::iris::rotor_2</link_name>
      </plugin>
      <plugin name='rotor_2_blade_2' filename='libLiftDragPlugin.so'>
        <a0>0.1</a0>
        <alpha_stall>1.4</alpha_stall>
        <cla>0.2500</cla>
        <cda>0.10</cda>
        <cma>0.00</cma>
        <cla_stall>-0.025</cla_stall>
        <cda_stall>0.0</cda_stall>
        <cma_stall>0.0</cma_stall>
        <area>0.2</area>
        <air_density>1.2041</air_density>
        <cp>-0.084 0 0</cp>
        <forward>0 1 0</forward>
        <upward>0 0 1</upward>
        <link_name>iris_demo::iris::rotor_2</link_name>
      </plugin>
      <plugin name='rotor_3_blade_1' filename='libLiftDragPlugin.so'>
        <a0>0.1</a0>
        <alpha_stall>1.4</alpha_stall>
        <cla>0.2500</cla>
        <cda>0.10</cda>
        <cma>0.00</cma>
        <cla_stall>-0.025</cla_stall>
        <cda_stall>0.0</cda_stall>
        <cma_stall>0.0</cma_stall>
        <area>0.2</area>
        <air_density>1.2041</air_density>
        <cp>0.084 0 0</cp>
        <forward>0 -1 0</forward>
        <upward>0 0 1</upward>
        <link_name>iris_demo::iris::rotor_3</link_name>
      </plugin>
      <plugin name='rotor_3_blade_2' filename='libLiftDragPlugin.so'>
        <a0>0.1</a0>
        <alpha_stall>1.4</alpha_stall>
        <cla>0.2500</cla>
        <cda>0.10</cda>
        <cma>0.00</cma>
        <cla_stall>-0.025</cla_stall>
        <cda_stall>0.0</cda_stall>
        <cma_stall>0.0</cma_stall>
        <area>0.2</area>
        <air_density>1.2041</air_density>
        <cp>-0.084 0 0</cp>
        <forward>0 1 0</forward>
        <upward>0 0 1</upward>
        <link_name>iris_demo::iris::rotor_3</link_name>
      </plugin>
      <plugin name='arducopter_plugin' filename='libArduCopterPlugin.so'>
        <imuName>iris_demo::iris::iris/imu_link::imu_sensor</imuName>
        <connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
        <rotor id='0'>
          <vel_p_gain>0.01</vel_p_gain>
          <vel_i_gain>0</vel_i_gain>
          <vel_d_gain>0</vel_d_gain>
          <vel_i_max>0</vel_i_max>
          <vel_i_min>0</vel_i_min>
          <vel_cmd_max>2.0</vel_cmd_max>
          <vel_cmd_min>-2.0</vel_cmd_min>
          <jointName>iris_demo::iris::rotor_0_joint</jointName>
          <turningDirection>ccw</turningDirection>
          <rotorVelocitySlowdownSim>1</rotorVelocitySlowdownSim>
        </rotor>
        <rotor id='1'>
          <vel_p_gain>0.01</vel_p_gain>
          <vel_i_gain>0</vel_i_gain>
          <vel_d_gain>0</vel_d_gain>
          <vel_i_max>0</vel_i_max>
          <vel_i_min>0</vel_i_min>
          <vel_cmd_max>2.0</vel_cmd_max>
          <vel_cmd_min>-2.0</vel_cmd_min>
          <jointName>iris_demo::iris::rotor_1_joint</jointName>
          <turningDirection>ccw</turningDirection>
          <rotorVelocitySlowdownSim>1</rotorVelocitySlowdownSim>
        </rotor>
        <rotor id='2'>
          <vel_p_gain>0.01</vel_p_gain>
          <vel_i_gain>0</vel_i_gain>
          <vel_d_gain>0</vel_d_gain>
          <vel_i_max>0</vel_i_max>
          <vel_i_min>0</vel_i_min>
          <vel_cmd_max>2.0</vel_cmd_max>
          <vel_cmd_min>-2.0</vel_cmd_min>
          <jointName>iris_demo::iris::rotor_2_joint</jointName>
          <turningDirection>cw</turningDirection>
          <rotorVelocitySlowdownSim>1</rotorVelocitySlowdownSim>
        </rotor>
        <rotor id='3'>
          <vel_p_gain>0.01</vel_p_gain>
          <vel_i_gain>0</vel_i_gain>
          <vel_d_gain>0</vel_d_gain>
          <vel_i_max>0</vel_i_max>
          <vel_i_min>0</vel_i_min>
          <vel_cmd_max>2.0</vel_cmd_max>
          <vel_cmd_min>-2.0</vel_cmd_min>
          <jointName>iris_demo::iris::rotor_3_joint</jointName>
          <turningDirection>cw</turningDirection>
          <rotorVelocitySlowdownSim>1</rotorVelocitySlowdownSim>
        </rotor>
      </plugin>
      <link name='camera'>
        <pose>0 -0.01 0.07 0.8 0 1.57</pose>
        <inertial>
          <pose>0 0 0 0 -0 0</pose>
          <mass>0.1</mass>
          <inertia>
            <ixx>0.001</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.001</iyy>
            <iyz>0</iyz>
            <izz>0.001</izz>
          </inertia>
        </inertial>
        <visual name='visual'>
          <pose>0 0 0 0 -0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.025</radius>
              <length>0.025</length>
            </cylinder>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
        <sensor name='camera' type='camera'>
          <pose>0 0 0 -1.57 -1.57 0</pose>
          <camera>
            <horizontal_fov>1.0472</horizontal_fov>
            <image>
              <width>640</width>
              <height>480</height>
            </image>
            <clip>
              <near>0.05</near>
              <far>1000</far>
            </clip>
          </camera>
          <always_on>1</always_on>
          <update_rate>10</update_rate>
          <visualize>1</visualize>
          <plugin name='camera_controller' filename='libgazebo_ros_camera.so'>
            <alwaysOn>1</alwaysOn>
            <updateRate>0.0</updateRate>
            <cameraName>webcam</cameraName>
            <imageTopicName>image_raw</imageTopicName>
            <cameraInfoTopicName>camera_info</cameraInfoTopicName>
            <frameName>camera_link</frameName>
            <hackBaseline>0.07</hackBaseline>
            <distortionK1>0.0</distortionK1>
            <distortionK2>0.0</distortionK2>
            <distortionK3>0.0</distortionK3>
            <distortionT1>0.0</distortionT1>
            <distortionT2>0.0</distortionT2>
          </plugin>
        </sensor>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <joint name='base_camera_joint' type='revolute'>
        <pose>0 0 0 0 -0 0</pose>
        <parent>iris::iris_demo::gimbal_small_2d::tilt_link</parent>
        <child>camera</child>
        <axis>
          <limit>
            <lower>0</lower>
            <upper>0</upper>
          </limit>
          <xyz expressed_in='__model__'>0 0 1</xyz>
          <dynamics>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
        </axis>
      </joint>
    </model>
    <gravity>0 0 -9.8</gravity>
    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
    <atmosphere type='adiabatic'/>
    <scene>
      <ambient>0.4 0.4 0.4 1</ambient>
      <background>0.7 0.7 0.7 1</background>
      <shadows>1</shadows>
    </scene>
    <wind/>
    <spherical_coordinates>
      <surface_model>EARTH_WGS84</surface_model>
      <latitude_deg>0</latitude_deg>
      <longitude_deg>0</longitude_deg>
      <elevation>0</elevation>
      <heading_deg>0</heading_deg>
    </spherical_coordinates>
    <model name='heightmap'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <heightmap>
              <uri>model://winding_valley_heightmap/materials/textures/heightmap.png</uri>
              <size>1000 1000 25</size>
              <pos>0 0 -4</pos>
              <texture>
                <size>10</size>
                <diffuse>__default__</diffuse>
                <normal>__default__</normal>
              </texture>
              <blend>
                <min_height>0</min_height>
                <fade_dist>0</fade_dist>
              </blend>
            </heightmap>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
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            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <heightmap>
              <texture>
                <diffuse>file://media/materials/textures/dirt_diffusespecular.png</diffuse>
                <normal>file://media/materials/textures/flat_normal.png</normal>
                <size>10</size>
              </texture>
              <texture>
                <diffuse>file://media/materials/textures/grass_diffusespecular.png</diffuse>
                <normal>file://media/materials/textures/flat_normal.png</normal>
                <size>10</size>
              </texture>
              <texture>
                <diffuse>file://media/materials/textures/fungus_diffusespecular.png</diffuse>
                <normal>file://media/materials/textures/flat_normal.png</normal>
                <size>10</size>
              </texture>
              <blend>
                <min_height>1.5</min_height>
                <fade_dist>10</fade_dist>
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              <blend>
                <min_height>10</min_height>
                <fade_dist>5</fade_dist>
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              <uri>model://winding_valley_heightmap/materials/textures/heightmap.png</uri>
              <size>1000 1000 25</size>
              <pos>0 0 -4</pos>
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          </geometry>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
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    <state world_name='default'>
      <sim_time>281 202000000</sim_time>
      <real_time>111 645168602</real_time>
      <wall_time>1693503317 454434678</wall_time>
      <iterations>57917</iterations>
      <model name='drone_with_camera'>
        <pose>-22.1927 2.26135 -1.1827 0 2e-06 0</pose>
        <scale>1 1 1</scale>
        <link name='cam_link'>
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          <velocity>-0 0 -0 0 -0 0</velocity>
          <acceleration>0 -0 -0 0 -0 0</acceleration>
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        <link name='iris::base_link'>
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          <velocity>0 -0 -0 0 -0 0</velocity>
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        <link name='iris::iris/ground_truth/odometry_sensorgt_link'>
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        <link name='iris::iris/imu_link'>
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          <velocity>0 -0 -0 0 -0 0</velocity>
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        <link name='iris::rotor_1'>
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        <link name='iris::rotor_2'>
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          <velocity>0 -0 -0 0 -0 0</velocity>
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          <wrench>0 -0 -0 0 -0 0</wrench>
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        <link name='iris::rotor_3'>
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          <velocity>0 -0 0 0 -0 0</velocity>
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      <model name='heightmap'>
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          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
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      </model>
      <model name='iris'>
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        <scale>1 1 1</scale>
        <link name='camera'>
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        <link name='iris_demo::gimbal_small_2d::base_link'>
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          <velocity>1e-06 0 0 -4e-06 1.6e-05 1e-05</velocity>
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        <link name='iris_demo::gimbal_small_2d::tilt_link'>
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          <velocity>-2e-06 1e-06 -0 -7e-06 4e-06 1e-05</velocity>
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          <velocity>3e-06 1e-06 0 -4e-06 1.6e-05 0</velocity>
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          <wrench>-8.9e-05 2.3e-05 -5e-06 0 -0 0</wrench>
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        <link name='iris_demo::iris::iris/ground_truth/odometry_sensorgt_link'>
          <pose>-20.0071 1.7012 -0.962281 1.2e-05 0.001738 1.32173</pose>
          <velocity>3e-06 1e-06 0 -4e-06 1.6e-05 -2e-06</velocity>
          <acceleration>-7.2e-05 1.7e-05 -3e-06 -4.8e-05 -0.00018 -0.00394</acceleration>
          <wrench>-1.1e-05 3e-06 -0 0 -0 0</wrench>
        </link>
        <link name='iris_demo::iris::iris/imu_link'>
          <pose>-20.0071 1.7012 -0.962281 1.2e-05 0.001738 1.32173</pose>
          <velocity>3e-06 1e-06 0 -4e-06 1.6e-05 -2e-06</velocity>
          <acceleration>-7.2e-05 1.7e-05 -3e-06 -4.8e-05 -0.00018 -0.003931</acceleration>
          <wrench>-1.1e-05 2e-06 -0 0 -0 0</wrench>
        </link>
        <link name='iris_demo::iris::rotor_0'>
          <pose>-19.7618 1.773 -0.939509 0.001696 -0.000379 3.10562</pose>
          <velocity>4e-06 1e-06 -4e-06 -4e-06 1.6e-05 0</velocity>
          <acceleration>-7.2e-05 1.3e-05 1.5e-05 1e-06 -8.7e-05 0</acceleration>
          <wrench>-2e-06 0 0 0 -0 0</wrench>
        </link>
        <link name='iris_demo::iris::rotor_1'>
          <pose>-20.2329 1.62455 -0.939053 0.001723 -0.000226 3.01601</pose>
          <velocity>4e-06 1e-06 4e-06 -4e-06 1.6e-05 0</velocity>
          <acceleration>-7.5e-05 2.2e-05 -1.9e-05 0.000127 -0.000104 -0</acceleration>
          <wrench>-2e-06 1e-06 -0 0 -0 0</wrench>
        </link>
        <link name='iris_demo::iris::rotor_2'>
          <pose>-20.1882 1.88146 -0.939504 -0.000865 0.001507 0.794098</pose>
          <velocity>4e-06 1e-06 2e-06 -4e-06 1.6e-05 0</velocity>
          <acceleration>-7e-05 2.1e-05 -2.7e-05 -0.000901 -0.001023 2e-06</acceleration>
          <wrench>-2e-06 1e-06 -1e-06 0 -0 0</wrench>
        </link>
        <link name='iris_demo::iris::rotor_3'>
          <pose>-19.8453 1.52595 -0.939057 0.001052 -0.001383 -2.47714</pose>
          <velocity>4e-06 1e-06 -2e-06 -4e-06 1.6e-05 0</velocity>
          <acceleration>-7.7e-05 1.4e-05 1.8e-05 -0.000874 -0.00079 2e-06</acceleration>
          <wrench>-2e-06 0 0 0 -0 0</wrench>
        </link>
      </model>
      <model name='person_standing'>
        <pose>-21.1633 11.3304 -1.15686 -1e-06 -0 0.000599</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose>-21.1633 11.3304 -1.15686 -1e-06 -0 0.000599</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0.00667 1.27486 -0.494492 -1.34196 0.006328 -0.002607</acceleration>
          <wrench>0.533629 101.989 -39.5593 0 -0 0</wrench>
        </link>
      </model>
      <model name='pickup'>
        <pose>-21.8822 20.1549 -1.33401 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose>-21.8822 20.1549 -1.33401 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <light name='sun'>
        <pose>0 0 10 0 -0 0</pose>
      </light>
    </state>
    <model name='person_standing'>
      <link name='link'>
        <inertial>
          <pose>0 -0.1 0.95 0 -0 0</pose>
          <mass>80</mass>
          <inertia>
            <ixx>24.88</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>25.73</iyy>
            <iyz>0</iyz>
            <izz>2.48</izz>
          </inertia>
        </inertial>
        <collision name='bottom'>
          <pose>0 -0.1 0.01 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.5 0.35 0.02</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <collision name='person'>
          <pose>0 0 0.02 0.04 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://person_standing/meshes/standing.dae</uri>
            </mesh>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <pose>0 0 0.02 0.04 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://person_standing/meshes/standing.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <pose>-21.1632 11.3304 0 0 -0 0</pose>
    </model>
    <model name='pickup'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <pose>0 0 0 0 0 -1.5708</pose>
          <geometry>
            <mesh>
              <uri>model://pickup/meshes/pickup.dae</uri>
            </mesh>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <pose>0 0 0 0 0 -1.5708</pose>
          <geometry>
            <mesh>
              <uri>model://pickup/meshes/pickup.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <pose>-21.8822 20.1549 0 0 -0 0</pose>
    </model>
    <gui fullscreen='0'>
      <camera name='user_camera'>
        <pose>-6.19027 -8.9269 5.71622 0 0.275643 2.3562</pose>
        <view_controller>orbit</view_controller>
        <projection_type>perspective</projection_type>
      </camera>
    </gui>
    <model name='drone_with_camera'>
      <frame name='iris::__model__' attached_to='iris::base_link'>
        <pose relative_to='__model__'>0 0 0.194923 0 -0 0</pose>
      </frame>
      <link name='iris::base_link'>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <inertial>
          <pose>0 0 0 0 -0 0</pose>
          <mass>1.5</mass>
          <inertia>
            <ixx>0.008</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.015</iyy>
            <iyz>0</iyz>
            <izz>0.017</izz>
          </inertia>
        </inertial>
        <collision name='base_link_collision_fl'>
          <pose>0.13 0.22 -0.08 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.05 0.05 0.18</size>
            </box>
          </geometry>
          <surface>
            <contact>
              <ode>
                <max_vel>100</max_vel>
                <min_depth>0.001</min_depth>
              </ode>
            </contact>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <collision name='base_link_collision_fr'>
          <pose>0.13 -0.22 -0.08 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.05 0.05 0.18</size>
            </box>
          </geometry>
          <surface>
            <contact>
              <ode>
                <max_vel>100</max_vel>
                <min_depth>0.001</min_depth>
              </ode>
            </contact>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <collision name='base_link_collision_br'>
          <pose>-0.13 -0.22 -0.08 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.05 0.05 0.18</size>
            </box>
          </geometry>
          <surface>
            <contact>
              <ode>
                <max_vel>100</max_vel>
                <min_depth>0.001</min_depth>
              </ode>
            </contact>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <collision name='base_link_collision_bl'>
          <pose>-0.13 0.22 -0.08 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.05 0.05 0.18</size>
            </box>
          </geometry>
          <surface>
            <contact>
              <ode>
                <max_vel>100</max_vel>
                <min_depth>0.001</min_depth>
              </ode>
            </contact>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='base_link_visual'>
          <geometry>
            <mesh>
              <uri>model://iris_base/meshes/iris.dae</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <name>Gazebo/DarkGrey</name>
              <uri>__default__</uri>
            </script>
          </material>
        </visual>
        <visual name='front_left_leg_visual'>
          <pose>0.123 0.22 -0.11 0 -0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.005</radius>
              <length>0.17</length>
            </cylinder>
          </geometry>
          <material>
            <script>
              <name>Gazebo/FlatBlack</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
        <visual name='front_right_leg_visual'>
          <pose>0.123 -0.22 -0.11 0 -0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.005</radius>
              <length>0.17</length>
            </cylinder>
          </geometry>
          <material>
            <script>
              <name>Gazebo/FlatBlack</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
        <visual name='rear_left_leg_visual'>
          <pose>-0.14 0.21 -0.11 0 -0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.005</radius>
              <length>0.17</length>
            </cylinder>
          </geometry>
          <material>
            <script>
              <name>Gazebo/FlatBlack</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
        <visual name='rear_right_leg_visual'>
          <pose>-0.14 -0.21 -0.11 0 -0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.005</radius>
              <length>0.17</length>
            </cylinder>
          </geometry>
          <material>
            <script>
              <name>Gazebo/FlatBlack</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
        <pose relative_to='iris::__model__'>0 0 0 0 -0 0</pose>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <link name='iris::iris/ground_truth/odometry_sensorgt_link'>
        <pose relative_to='iris::__model__'>0 0 0 0 -0 0</pose>
        <inertial>
          <pose>0 0 0 0 -0 0</pose>
          <mass>0.15</mass>
          <inertia>
            <ixx>0.0001</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.0002</iyy>
            <iyz>0</iyz>
            <izz>0.0002</izz>
          </inertia>
        </inertial>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <joint name='iris::iris/ground_truth/odometry_sensorgt_joint' type='revolute'>
        <child>iris::iris/ground_truth/odometry_sensorgt_link</child>
        <parent>iris::base_link</parent>
        <axis>
          <xyz expressed_in='iris::__model__'>0 0 1</xyz>
          <limit>
            <lower>0</lower>
            <upper>0</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <dynamics>
            <damping>1</damping>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
        </axis>
        <physics>
          <ode>
            <implicit_spring_damper>1</implicit_spring_damper>
            <limit>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </limit>
          </ode>
        </physics>
      </joint>
      <link name='iris::iris/imu_link'>
        <inertial>
          <pose>0 0 0 0 -0 0</pose>
          <mass>0.15</mass>
          <inertia>
            <ixx>1e-05</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>2e-05</iyy>
            <iyz>0</iyz>
            <izz>2e-05</izz>
          </inertia>
        </inertial>
        <sensor name='imu_sensor' type='imu'>
          <pose>0 0 0 -3.14159 -0 0</pose>
          <always_on>1</always_on>
          <update_rate>1000</update_rate>
          <imu/>
        </sensor>
        <pose relative_to='iris::__model__'>0 0 0 0 -0 0</pose>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <joint name='iris::iris/imu_joint' type='revolute'>
        <child>iris::iris/imu_link</child>
        <parent>iris::base_link</parent>
        <axis>
          <xyz expressed_in='iris::__model__'>0 0 1</xyz>
          <limit>
            <lower>0</lower>
            <upper>0</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <dynamics>
            <damping>1</damping>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
        </axis>
        <physics>
          <ode>
            <implicit_spring_damper>1</implicit_spring_damper>
            <limit>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </limit>
          </ode>
        </physics>
      </joint>
      <link name='iris::rotor_0'>
        <pose relative_to='iris::__model__'>0.13 -0.22 0.023 0 -0 0</pose>
        <inertial>
          <pose>0 0 0 0 -0 0</pose>
          <mass>0.025</mass>
          <inertia>
            <ixx>9.75e-06</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.000166704</iyy>
            <iyz>0</iyz>
            <izz>0.000167604</izz>
          </inertia>
        </inertial>
        <collision name='rotor_0_collision'>
          <pose>0 0 0 0 -0 0</pose>
          <geometry>
            <cylinder>
              <length>0.005</length>
              <radius>0.1</radius>
            </cylinder>
          </geometry>
          <surface>
            <contact>
              <ode/>
            </contact>
            <friction>
              <ode/>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='rotor_0_visual'>
          <pose>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>model://iris_base/meshes/iris_prop_ccw.dae</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Blue</name>
              <uri>__default__</uri>
            </script>
          </material>
        </visual>
        <gravity>1</gravity>
        <velocity_decay/>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <joint name='iris::rotor_0_joint' type='revolute'>
        <child>iris::rotor_0</child>
        <parent>iris::base_link</parent>
        <axis>
          <xyz expressed_in='iris::__model__'>0 0 1</xyz>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <dynamics>
            <damping>0.004</damping>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
        </axis>
        <physics>
          <ode>
            <implicit_spring_damper>1</implicit_spring_damper>
            <limit>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </limit>
          </ode>
        </physics>
      </joint>
      <link name='iris::rotor_1'>
        <pose relative_to='iris::__model__'>-0.13 0.2 0.023 0 -0 0</pose>
        <inertial>
          <pose>0 0 0 0 -0 0</pose>
          <mass>0.025</mass>
          <inertia>
            <ixx>9.75e-06</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.000166704</iyy>
            <iyz>0</iyz>
            <izz>0.000167604</izz>
          </inertia>
        </inertial>
        <collision name='rotor_1_collision'>
          <pose>0 0 0 0 -0 0</pose>
          <geometry>
            <cylinder>
              <length>0.005</length>
              <radius>0.1</radius>
            </cylinder>
          </geometry>
          <surface>
            <contact>
              <ode/>
            </contact>
            <friction>
              <ode/>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='rotor_1_visual'>
          <pose>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>model://iris_base/meshes/iris_prop_ccw.dae</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <name>Gazebo/DarkGrey</name>
              <uri>__default__</uri>
            </script>
          </material>
        </visual>
        <gravity>1</gravity>
        <velocity_decay/>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <joint name='iris::rotor_1_joint' type='revolute'>
        <child>iris::rotor_1</child>
        <parent>iris::base_link</parent>
        <axis>
          <xyz expressed_in='iris::__model__'>0 0 1</xyz>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <dynamics>
            <damping>0.004</damping>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
        </axis>
        <physics>
          <ode>
            <implicit_spring_damper>1</implicit_spring_damper>
            <limit>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </limit>
          </ode>
        </physics>
      </joint>
      <link name='iris::rotor_2'>
        <pose relative_to='iris::__model__'>0.13 0.22 0.023 0 -0 0</pose>
        <inertial>
          <pose>0 0 0 0 -0 0</pose>
          <mass>0.025</mass>
          <inertia>
            <ixx>9.75e-06</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.000166704</iyy>
            <iyz>0</iyz>
            <izz>0.000167604</izz>
          </inertia>
        </inertial>
        <collision name='rotor_2_collision'>
          <pose>0 0 0 0 -0 0</pose>
          <geometry>
            <cylinder>
              <length>0.005</length>
              <radius>0.1</radius>
            </cylinder>
          </geometry>
          <surface>
            <contact>
              <ode/>
            </contact>
            <friction>
              <ode/>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='rotor_2_visual'>
          <pose>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>model://iris_base/meshes/iris_prop_cw.dae</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Blue</name>
              <uri>__default__</uri>
            </script>
          </material>
        </visual>
        <gravity>1</gravity>
        <velocity_decay/>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <joint name='iris::rotor_2_joint' type='revolute'>
        <child>iris::rotor_2</child>
        <parent>iris::base_link</parent>
        <axis>
          <xyz expressed_in='iris::__model__'>0 0 1</xyz>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <dynamics>
            <damping>0.004</damping>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
        </axis>
        <physics>
          <ode>
            <implicit_spring_damper>1</implicit_spring_damper>
            <limit>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </limit>
          </ode>
        </physics>
      </joint>
      <link name='iris::rotor_3'>
        <pose relative_to='iris::__model__'>-0.13 -0.2 0.023 0 -0 0</pose>
        <inertial>
          <pose>0 0 0 0 -0 0</pose>
          <mass>0.025</mass>
          <inertia>
            <ixx>9.75e-06</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.000166704</iyy>
            <iyz>0</iyz>
            <izz>0.000167604</izz>
          </inertia>
        </inertial>
        <collision name='rotor_3_collision'>
          <pose>0 0 0 0 -0 0</pose>
          <geometry>
            <cylinder>
              <length>0.005</length>
              <radius>0.1</radius>
            </cylinder>
          </geometry>
          <surface>
            <contact>
              <ode/>
            </contact>
            <friction>
              <ode/>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='rotor_3_visual'>
          <pose>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>model://iris_base/meshes/iris_prop_cw.dae</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <name>Gazebo/DarkGrey</name>
              <uri>__default__</uri>
            </script>
          </material>
        </visual>
        <gravity>1</gravity>
        <velocity_decay/>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <joint name='iris::rotor_3_joint' type='revolute'>
        <child>iris::rotor_3</child>
        <parent>iris::base_link</parent>
        <axis>
          <xyz expressed_in='iris::__model__'>0 0 1</xyz>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <dynamics>
            <damping>0.004</damping>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
        </axis>
        <physics>
          <ode>
            <implicit_spring_damper>1</implicit_spring_damper>
            <limit>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </limit>
          </ode>
        </physics>
      </joint>
      <static>0</static>
      <link name='cam_link'>
        <pose>0 0 -0.02 0 -0 0</pose>
        <inertial>
          <mass>0.01</mass>
          <inertia>
            <ixx>0.001</ixx>
            <iyy>0.001</iyy>
            <izz>0.001</izz>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyz>0</iyz>
          </inertia>
          <pose>0 0 0 0 -0 0</pose>
        </inertial>
        <visual name='cam_link'>
          <pose>0 0 0.15 0 1.5707 0</pose>
          <geometry>
            <cylinder>
              <radius>0.005</radius>
              <length>0.018</length>
            </cylinder>
          </geometry>
        </visual>
        <sensor name='cam' type='camera'>
          <pose>0 0 0.15 0 -0 0</pose>
          <camera>
            <horizontal_fov>1.2</horizontal_fov>
            <image>
              <width>640</width>
              <height>480</height>
            </image>
            <clip>
              <near>0.1</near>
              <far>1000</far>
            </clip>
          </camera>
          <always_on>1</always_on>
          <update_rate>30</update_rate>
          <visualize>1</visualize>
          <plugin name='camera_controller' filename='libgazebo_ros_camera.so'>
            <always_on>1</always_on>
            <update_rate>30</update_rate>
            <cameraName>webcam</cameraName>
            <imageTopicName>image_raw</imageTopicName>
            <cameraInfoTopicName>camera_info</cameraInfoTopicName>
            <frameName>camera_link</frameName>
          </plugin>
        </sensor>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <joint name='camera_mount' type='fixed'>
        <child>cam_link</child>
        <parent>iris::base_link</parent>
        <axis>
          <xyz>0 0 1</xyz>
          <limit>
            <upper>0</upper>
            <lower>0</lower>
          </limit>
        </axis>
      </joint>
      <plugin name='rotor_0_blade_1' filename='libLiftDragPlugin.so'>
        <a0>0.3</a0>
        <alpha_stall>1.4</alpha_stall>
        <cla>4.2500</cla>
        <cda>0.10</cda>
        <cma>0.00</cma>
        <cla_stall>-0.025</cla_stall>
        <cda_stall>0.0</cda_stall>
        <cma_stall>0.0</cma_stall>
        <area>0.002</area>
        <air_density>1.2041</air_density>
        <cp>0.084 0 0</cp>
        <forward>0 1 0</forward>
        <upward>0 0 1</upward>
        <link_name>iris::rotor_0</link_name>
      </plugin>
      <plugin name='rotor_0_blade_2' filename='libLiftDragPlugin.so'>
        <a0>0.3</a0>
        <alpha_stall>1.4</alpha_stall>
        <cla>4.2500</cla>
        <cda>0.10</cda>
        <cma>0.00</cma>
        <cla_stall>-0.025</cla_stall>
        <cda_stall>0.0</cda_stall>
        <cma_stall>0.0</cma_stall>
        <area>0.002</area>
        <air_density>1.2041</air_density>
        <cp>-0.084 0 0</cp>
        <forward>0 -1 0</forward>
        <upward>0 0 1</upward>
        <link_name>iris::rotor_0</link_name>
      </plugin>
      <plugin name='rotor_1_blade_1' filename='libLiftDragPlugin.so'>
        <a0>0.3</a0>
        <alpha_stall>1.4</alpha_stall>
        <cla>4.2500</cla>
        <cda>0.10</cda>
        <cma>0.00</cma>
        <cla_stall>-0.025</cla_stall>
        <cda_stall>0.0</cda_stall>
        <cma_stall>0.0</cma_stall>
        <area>0.002</area>
        <air_density>1.2041</air_density>
        <cp>0.084 0 0</cp>
        <forward>0 1 0</forward>
        <upward>0 0 1</upward>
        <link_name>iris::rotor_1</link_name>
      </plugin>
      <plugin name='rotor_1_blade_2' filename='libLiftDragPlugin.so'>
        <a0>0.3</a0>
        <alpha_stall>1.4</alpha_stall>
        <cla>4.2500</cla>
        <cda>0.10</cda>
        <cma>0.00</cma>
        <cla_stall>-0.025</cla_stall>
        <cda_stall>0.0</cda_stall>
        <cma_stall>0.0</cma_stall>
        <area>0.002</area>
        <air_density>1.2041</air_density>
        <cp>-0.084 0 0</cp>
        <forward>0 -1 0</forward>
        <upward>0 0 1</upward>
        <link_name>iris::rotor_1</link_name>
      </plugin>
      <plugin name='rotor_2_blade_1' filename='libLiftDragPlugin.so'>
        <a0>0.3</a0>
        <alpha_stall>1.4</alpha_stall>
        <cla>4.2500</cla>
        <cda>0.10</cda>
        <cma>0.00</cma>
        <cla_stall>-0.025</cla_stall>
        <cda_stall>0.0</cda_stall>
        <cma_stall>0.0</cma_stall>
        <area>0.002</area>
        <air_density>1.2041</air_density>
        <cp>0.084 0 0</cp>
        <forward>0 -1 0</forward>
        <upward>0 0 1</upward>
        <link_name>iris::rotor_2</link_name>
      </plugin>
      <plugin name='rotor_2_blade_2' filename='libLiftDragPlugin.so'>
        <a0>0.3</a0>
        <alpha_stall>1.4</alpha_stall>
        <cla>4.2500</cla>
        <cda>0.10</cda>
        <cma>0.00</cma>
        <cla_stall>-0.025</cla_stall>
        <cda_stall>0.0</cda_stall>
        <cma_stall>0.0</cma_stall>
        <area>0.002</area>
        <air_density>1.2041</air_density>
        <cp>-0.084 0 0</cp>
        <forward>0 1 0</forward>
        <upward>0 0 1</upward>
        <link_name>iris::rotor_2</link_name>
      </plugin>
      <plugin name='rotor_3_blade_1' filename='libLiftDragPlugin.so'>
        <a0>0.3</a0>
        <alpha_stall>1.4</alpha_stall>
        <cla>4.2500</cla>
        <cda>0.10</cda>
        <cma>0.00</cma>
        <cla_stall>-0.025</cla_stall>
        <cda_stall>0.0</cda_stall>
        <cma_stall>0.0</cma_stall>
        <area>0.002</area>
        <air_density>1.2041</air_density>
        <cp>0.084 0 0</cp>
        <forward>0 -1 0</forward>
        <upward>0 0 1</upward>
        <link_name>iris::rotor_3</link_name>
      </plugin>
      <plugin name='rotor_3_blade_2' filename='libLiftDragPlugin.so'>
        <a0>0.3</a0>
        <alpha_stall>1.4</alpha_stall>
        <cla>4.2500</cla>
        <cda>0.10</cda>
        <cma>0.00</cma>
        <cla_stall>-0.025</cla_stall>
        <cda_stall>0.0</cda_stall>
        <cma_stall>0.0</cma_stall>
        <area>0.002</area>
        <air_density>1.2041</air_density>
        <cp>-0.084 0 0</cp>
        <forward>0 1 0</forward>
        <upward>0 0 1</upward>
        <link_name>iris::rotor_3</link_name>
      </plugin>
      <plugin name='arducopter_plugin' filename='libArduPilotPlugin.so'>
        <fdm_addr>127.0.0.1</fdm_addr>
        <fdm_port_in>9002</fdm_port_in>
        <fdm_port_out>9003</fdm_port_out>
        <modelXYZToAirplaneXForwardZDown>0 0 0 3.141593 0 0</modelXYZToAirplaneXForwardZDown>
        <gazeboXYZToNED>0 0 0 3.141593 0 0</gazeboXYZToNED>
        <imuName>iris::iris/imu_link::imu_sensor</imuName>
        <connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
        <control channel='0'>
          <type>VELOCITY</type>
          <offset>0</offset>
          <p_gain>0.20</p_gain>
          <i_gain>0</i_gain>
          <d_gain>0</d_gain>
          <i_max>0</i_max>
          <i_min>0</i_min>
          <cmd_max>2.5</cmd_max>
          <cmd_min>-2.5</cmd_min>
          <jointName>iris::rotor_0_joint</jointName>
          <multiplier>838</multiplier>
          <controlVelocitySlowdownSim>1</controlVelocitySlowdownSim>
        </control>
        <control channel='1'>
          <type>VELOCITY</type>
          <offset>0</offset>
          <p_gain>0.20</p_gain>
          <i_gain>0</i_gain>
          <d_gain>0</d_gain>
          <i_max>0</i_max>
          <i_min>0</i_min>
          <cmd_max>2.5</cmd_max>
          <cmd_min>-2.5</cmd_min>
          <jointName>iris::rotor_1_joint</jointName>
          <multiplier>838</multiplier>
          <controlVelocitySlowdownSim>1</controlVelocitySlowdownSim>
        </control>
        <control channel='2'>
          <type>VELOCITY</type>
          <offset>0</offset>
          <p_gain>0.20</p_gain>
          <i_gain>0</i_gain>
          <d_gain>0</d_gain>
          <i_max>0</i_max>
          <i_min>0</i_min>
          <cmd_max>2.5</cmd_max>
          <cmd_min>-2.5</cmd_min>
          <jointName>iris::rotor_2_joint</jointName>
          <multiplier>-838</multiplier>
          <controlVelocitySlowdownSim>1</controlVelocitySlowdownSim>
        </control>
        <control channel='3'>
          <type>VELOCITY</type>
          <offset>0</offset>
          <p_gain>0.20</p_gain>
          <i_gain>0</i_gain>
          <d_gain>0</d_gain>
          <i_max>0</i_max>
          <i_min>0</i_min>
          <cmd_max>2.5</cmd_max>
          <cmd_min>-2.5</cmd_min>
          <jointName>iris::rotor_3_joint</jointName>
          <multiplier>-838</multiplier>
          <controlVelocitySlowdownSim>1</controlVelocitySlowdownSim>
        </control>
      </plugin>
      <pose>-22.1927 2.26135 0 0 -0 0</pose>
    </model>
  </world>
</sdf>