f550_amazing.sdf

<?xml version="1.0" ?>
<sdf version="1.5">
  <model name="f550_amazing">
    <static>false</static>
    <pose>0 0 0.35 0 0 0</pose>

<!-- ######################################## LOWER_PLATE # ######################################## -->
    <link name="base_link">
	<gravity>true</gravity>
	<pose>0 0 0.0015 0 0 0</pose>
	
      <inertial>
        <pose frame=''>0.001005 0 -0.0090035 0 -0 0</pose>
        <mass>0.6</mass>
        <inertia>
          <ixx>0.011</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.015</iyy>
          <iyz>0</iyz>
          <izz>0.021</izz>
        </inertia>
      </inertial>

      <visual name="base_link_visual">
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>model://f550_amazing/meshes/Lower_plate_CG.STL</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/DarkGrey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
    </link>
<!-- ####################################### /LOWER_PLATE # ######################################## -->


<!--
	<joint name="fixed to ground" type="fixed">
		<parent>world</parent>
		<child>base_link</child>
	</joint>
-->


<!-- ######################################## TOP_PLATE ############################################ -->
    <link name="Top_plate_link">
	<gravity>true</gravity>
	<pose>0 0 0.0375 0 0 2.09439510239</pose>
	
      <inertial>
        <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_Top_plate">
        <geometry>
          <mesh>