<?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>
<scale>0.001 0.001 0.001</scale>
<uri>model://f550_amazing/meshes/Top_plate_CG.STL</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/DarkGrey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
</link>
<joint name='Lower_Top_joint' type='fixed'>
<child>Top_plate_link</child>
<parent>base_link</parent>
</joint>
<!-- ####################################### /TOP_PLATE ############################################ -->
<!-- ########################################## CAMERA ########################################### -->
<link name='camera_down_link'>
<pose>0 0 0 0 1.57079 3.14159265359</pose>
<inertial>
<mass>0.001</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>
<gravity>1</gravity>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<visual name='visual_camera_down'>
<pose>0 0 0 0 -1.57079 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>model://f550_amazing/meshes/oCam-1MGN-U_CG.stl</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<sensor name='camera' type='camera'>
<always_on>1</always_on>
<update_rate>30</update_rate>
<camera name='__default__'>
<horizontal_fov>1.13446</horizontal_fov>
<image>
<width>1280</width>
<height>720</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
<plugin name='camera_plugin' filename='libgazebo_ros_camera.so'>
<alwaysOn>true</alwaysOn>
<imageTopicName>image_raw_down</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<updateRate>10.0</updateRate>
<cameraName>uav_camera</cameraName>
<frameName>f550_amazing/robot_camera_down</frameName>
<CxPrime>640.5</CxPrime>
<Cx>640.5</Cx>
<Cy>360.5</Cy>
<hackBaseline>0</hackBaseline>
<focalLength>1004.603218</focalLength>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
<robotNamespace>/</robotNamespace>
</plugin>
</sensor>
</link>
<joint name='camera_down_joint' type='fixed'>
<parent>base_link</parent>
<child>camera_down_link</child>
</joint>
<!-- ########################################## /CAMERA ########################################## -->
<!-- ########################################## IMU ############################################## -->
<link name='imu_link'>
<pose frame=''>0 0 0 0 0 3.1415927</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>0.015</mass>
<inertia>
<ixx>1e-05</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1e-05</iyy>
<iyz>0</iyz>
<izz>1e-05</izz>
</inertia>
</inertial>
<visual name="visual_imu">
<pose frame=''>0 0 0 0 0 3.1415927</pose>
<geometry>
<box>
<size>0.01 0.02 0.02</size>
</box>
</geometry>
</visual>
</link>
<joint name='imu_joint' type='revolute'>
<child>imu_link</child>
<parent>base_link</parent>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>0</lower>
<upper>0</upper>
<effort>0</effort>
<velocity>0</velocity>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<!-- ######################################### /IMU ############################################## -->
<!-- ############################################# ARM1 ############################################ -->
<link name="Arm1_link">
<gravity>true</gravity>
<pose>0 0.1874 0.009875004 0 0 1.57079632679</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>
<!--
<collision name="collision_Arm1_box">
<pose>-0.02 0 0.009 0 0 0</pose>
<geometry>
<box>
<size>0.175 0.034 0.037</size>
</box>
</geometry>
</collision>
<collision name="collision_Arm1_cyl">
<pose>0.09 0 0.02 0 0 0</pose>
<geometry>
<cylinder>
<length>0.097</length>
<radius>0.02</radius>
</cylinder>
</geometry>
</collision>
-->
<visual name="visual_Arm1">
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>model://f550_amazing/meshes/Arm_CG.STL</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/DarkGrey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
</link>
<joint name='Lower_Arm1_joint' type='fixed'>
<child>Arm1_link</child>
<parent>base_link</parent>
</joint>
<!-- ############################################ /ARM1 ############################################ -->
<!-- ############################################# ARM2 ############################################ -->
<link name="Arm2_link">
<gravity>true</gravity>
<pose>0.162293160669 0.0937 0.009875004 0 0 0.523598775598</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_Arm2">
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>model://f550_amazing/meshes/Arm_CG.STL</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='Lower_Arm2_joint' type='fixed'>
<child>Arm2_link</child>
<parent>base_link</parent>
</joint>
<!-- ############################################ /ARM2 ############################################ -->
<!-- ############################################# ARM3 ############################################ -->
<link name="Arm3_link">
<gravity>true</gravity>
<pose>0.162293160669 -0.0937 0.009875004 0 0 -0.523598775598</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_Arm3">
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>model://f550_amazing/meshes/Arm_CG.STL</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='Lower_Arm3_joint' type='fixed'>
<child>Arm3_link</child>
<parent>base_link</parent>
</joint>
<!-- ############################################ /ARM3 ############################################ -->
<!-- ############################################# ARM4 ############################################ -->
<link name="Arm4_link">
<gravity>true</gravity>
<pose>0 -0.1874 0.009875004 0 0 -1.57079632679</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_Arm4">
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>model://f550_amazing/meshes/Arm_CG.STL</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/DarkGrey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
</link>
<joint name='Lower_Arm4_joint' type='fixed'>
<child>Arm4_link</child>
<parent>base_link</parent>
</joint>
<!-- ############################################ /ARM4 ############################################ -->
<!-- ############################################# ARM5 ############################################ -->
<link name="Arm5_link">
<gravity>true</gravity>
<pose>-0.162293160669 -0.0937 0.009875004 0 0 3.66519142919</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_Arm5">
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>model://f550_amazing/meshes/Arm_CG.STL</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/DarkGrey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
</link>
<joint name='Lower_Arm5_joint' type='fixed'>
<child>Arm5_link</child>
<parent>base_link</parent>
</joint>
<!-- ############################################ /ARM5 ############################################ -->
<!-- ############################################# ARM6 ############################################ -->
<link name="Arm6_link">
<gravity>true</gravity>
<pose>-0.162293160669 0.0937 0.009875004 0 0 2.61799387799</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_Arm6">
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>model://f550_amazing/meshes/Arm_CG.STL</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/DarkGrey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
</link>
<joint name='Lower_Arm6_joint' type='fixed'>
<child>Arm6_link</child>
<parent>base_link</parent>
</joint>
<!-- ############################################ /ARM6 ############################################ -->
<!-- ######################################### ROTOR0 ############################################ -->
<link name='rotor_0'>
<pose frame=''>-0.279726205 0.1615 0.07 0 0 2.09439510239</pose>
<inertial>
<mass>0.005</mass>
<inertia>
<ixx>9.75e-07</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000273104</iyy>
<iyz>0</iyz>
<izz>0.000274004</izz>
</inertia>
</inertial>
<!--
<collision name='rotor_0_collision'>
<geometry>
<cylinder>
<length>0.01</length>
<radius>0.128</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
-->
<visual name='rotor_0_visual'>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>model://f550_amazing/meshes/prop_cw_CG.stl</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/DarkGrey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
</link>
<joint name='rotor_0_joint' type='revolute'>
<child>rotor_0</child>
<parent>base_link</parent>
<axis>
<xyz>0.046 0.0827 1.8977</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
<effort>10</effort>
<velocity>-1</velocity>
</limit>
<dynamics>
<damping>0.005</damping>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
</ode>
</physics>
</joint>
<!-- ######################################## /ROTOR0 ############################################ -->
<!-- ######################################### ROTOR1 ############################################ -->
<link name='rotor_1'>
<pose frame=''>0.279726205 -0.1615 0.07 0 0 -2.09439510239</pose>
<inertial>
<mass>0.005</mass>
<inertia>
<ixx>9.75e-07</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000273104</iyy>
<iyz>0</iyz>
<izz>0.000274004</izz>
</inertia>
</inertial>
<visual name='rotor_1_visual'>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>model://f550_amazing/meshes/prop_ccw_CG.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='rotor_1_joint' type='revolute'>
<child>rotor_1</child>
<parent>base_link</parent>
<axis>
<xyz>0.046 0.0827 1.8977</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
<effort>10</effort>
<velocity>-1</velocity>
</limit>
<dynamics>
<damping>0.005</damping>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
</ode>
</physics>
</joint>
<!-- ######################################## /ROTOR1 ############################################ -->
<!-- ######################################### ROTOR2 ############################################ -->
<link name='rotor_2'>
<pose frame=''>-0.279726205 -0.1615 0.07 0 0 2.09439510239</pose>
<inertial>
<mass>0.005</mass>
<inertia>
<ixx>9.75e-07</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000273104</iyy>
<iyz>0</iyz>
<izz>0.000274004</izz>
</inertia>
</inertial>
<visual name='rotor_2_visual'>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>model://f550_amazing/meshes/prop_ccw_CG.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='rotor_2_joint' type='revolute'>
<child>rotor_2</child>
<parent>base_link</parent>
<axis>
<xyz>0.046 0.0827 1.8977</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
<effort>10</effort>
<velocity>-1</velocity>
</limit>
<dynamics>
<damping>0.005</damping>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
</ode>
</physics>
</joint>
<!-- ######################################## /ROTOR2 ############################################ -->
<!-- ######################################### ROTOR3 ############################################ -->
<link name='rotor_3'>
<pose frame=''>0.279726205 0.1615 0.07 0 0 0</pose>
<inertial>
<mass>0.005</mass>
<inertia>
<ixx>9.75e-07</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000273104</iyy>
<iyz>0</iyz>
<izz>0.000274004</izz>
</inertia>
</inertial>
<visual name='rotor_3_visual'>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>model://f550_amazing/meshes/prop_cw_CG.stl</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/DarkGrey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
</link>
<joint name='rotor_3_joint' type='revolute'>
<child>rotor_3</child>
<parent>base_link</parent>
<axis>
<xyz>0.046 0.0827 1.8977</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
<effort>10</effort>
<velocity>-1</velocity>
</limit>
<dynamics>
<damping>0.005</damping>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
</ode>
</physics>
</joint>
<!-- ######################################## /ROTOR3 ############################################ -->
<!-- ######################################### ROTOR4 ############################################ -->
<link name='rotor_4'>
<pose frame=''>0 0.323 0.07 0 0 0</pose>
<inertial>
<mass>0.005</mass>
<inertia>
<ixx>9.75e-07</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000273104</iyy>
<iyz>0</iyz>
<izz>0.000274004</izz>
</inertia>
</inertial>
<visual name='rotor_4_visual'>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>model://f550_amazing/meshes/prop_ccw_CG.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='rotor_4_joint' type='revolute'>
<child>rotor_4</child>
<parent>base_link</parent>
<axis>
<xyz>0.046 0.0827 1.8977</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
<effort>10</effort>
<velocity>-1</velocity>
</limit>
<dynamics>
<damping>0.005</damping>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
</ode>
</physics>
</joint>
<!-- ######################################## /ROTOR4 ############################################ -->
<!-- ######################################### ROTOR5 ############################################ -->
<link name='rotor_5'>
<pose frame=''>0 -0.323 0.07 0 0 -2.09439510239</pose>
<inertial>
<mass>0.005</mass>
<inertia>
<ixx>9.75e-07</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000273104</iyy>
<iyz>0</iyz>
<izz>0.000274004</izz>
</inertia>
</inertial>
<visual name='rotor_5_visual'>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>model://f550_amazing/meshes/prop_ccw_CG.stl</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/DarkGrey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
</link>
<joint name='rotor_5_joint' type='revolute'>
<child>rotor_5</child>
<parent>base_link</parent>
<axis>
<xyz>0.046 0.0827 1.8977</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
<effort>10</effort>
<velocity>-1</velocity>
</limit>
<dynamics>
<damping>0.005</damping>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
</ode>
</physics>
</joint>
<!-- ######################################## /ROTOR5 ############################################ -->
<!-- ######################################### grip1 ############################################### -->
<link name="cylinder1">
<pose>0 -0.0967 0 0 0 0</pose>
<inertial>
<mass>0.01</mass>
<inertia>
<ixx>0.01</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.01</iyy>
<iyz>0</iyz>
<izz>0.01</izz>
</inertia>
</inertial>
<visual name="visual">
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>model://f550_amazing/meshes/cylinder.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name="base_link_cylinder1" type="fixed">
<child>cylinder1</child>
<parent>base_link</parent>
</joint>
<link name="grip1">
<pose>0 -0.0967 -0.02 0 0 0</pose>
<inertial>
<mass>0.01</mass>
<inertia>
<ixx>0.01</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.01</iyy>
<iyz>0</iyz>
<izz>0.01</izz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>model://f550_amazing/meshes/grip_long.stl</uri>
</mesh>
</geometry>
<surface>
<contact>
<ode>
<min_depth>0.001</min_depth>
</ode>
</contact>
<friction>
<ode>
<mu>50</mu>
<mu2>50</mu2>
</ode>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>model://f550_amazing/meshes/grip_long.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name="cylinder_grip1" type="revolute">
<pose>0 0 0 0 0 0</pose>
<child>grip1</child>
<parent>cylinder1</parent>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>0.001</lower>
<upper>1.570</upper>
<velocity>1</velocity>
</limit>
<dynamics>
<damping>5</damping>
<friction>0.5</friction>
</dynamics>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>'
</ode>
</physics>
</joint>
<!-- ######################################### /grip1 ############################################### -->
<!-- ######################################### grip2 ############################################### -->
<link name="cylinder2">
<pose>0.0837446656546 0.04835 0 0 0 2.09439510239</pose>
<inertial>
<mass>0.01</mass>
<inertia>
<ixx>0.01</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.01</iyy>
<iyz>0</iyz>
<izz>0.01</izz>
</inertia>
</inertial>
<visual name="visual">
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>model://f550_amazing/meshes/cylinder.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name="base_link_cylinder2" type="fixed">
<child>cylinder2</child>
<parent>base_link</parent>
</joint>
<link name="grip2">
<pose>0.0837446656546 0.04835 -0.02 0 0 2.09439510239</pose>
<inertial>
<mass>0.01</mass>
<inertia>
<ixx>0.01</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.01</iyy>
<iyz>0</iyz>
<izz>0.01</izz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>model://f550_amazing/meshes/grip_long.stl</uri>
</mesh>
</geometry>
<surface>
<contact>
<ode>
<min_depth>0.001</min_depth>
</ode>
</contact>
<friction>
<ode>
<mu>50</mu>
<mu2>50</mu2>
</ode>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>model://f550_amazing/meshes/grip_long.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name="cylinder_grip2" type="revolute">
<pose>0 0 0 0 0 0</pose>
<child>grip2</child>
<parent>cylinder2</parent>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>0.001</lower>
<upper>1.570</upper>
<velocity>1</velocity>
</limit>
<dynamics>
<damping>5</damping>
<friction>0.5</friction>
</dynamics>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>'
</ode>
</physics>
</joint>
<!-- ######################################### /grip2 ############################################### -->
<!-- ######################################### grip3 ############################################### -->
<link name="cylinder3">
<pose>0.0837446656546 -0.04835 0 0 0 1.0471975512</pose>
<inertial>
<mass>0.01</mass>
<inertia>
<ixx>0.01</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.01</iyy>
<iyz>0</iyz>
<izz>0.01</izz>
</inertia>
</inertial>
<visual name="visual">
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>model://f550_amazing/meshes/cylinder.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name="base_link_cylinder3" type="fixed">
<child>cylinder3</child>
<parent>base_link</parent>
</joint>
<link name="grip3">
<pose>0.0837446656546 -0.04835 -0.02 0 0 1.0471975512</pose>
<inertial>
<mass>0.01</mass>
<inertia>
<ixx>0.01</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.01</iyy>
<iyz>0</iyz>
<izz>0.01</izz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>model://f550_amazing/meshes/grip.stl</uri>
</mesh>
</geometry>
<surface>
<contact>
<ode>
<min_depth>0.001</min_depth>
</ode>
</contact>
<friction>
<ode>
<mu>50</mu>
<mu2>50</mu2>
</ode>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>model://f550_amazing/meshes/grip.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name="cylinder_grip3" type="revolute">
<pose>0 0 0 0 0 0</pose>
<child>grip3</child>
<parent>cylinder3</parent>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>0.001</lower>
<upper>1.570</upper>
<velocity>1</velocity>
</limit>
<dynamics>
<damping>5</damping>
<friction>0.5</friction>
</dynamics>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>'
</ode>
</physics>
</joint>
<!-- ######################################### /grip3 ############################################### -->
<!-- ######################################### grip4 ############################################### -->
<link name="cylinder4">
<pose>0 0.0967 0 0 0 0</pose>
<inertial>
<mass>0.01</mass>
<inertia>
<ixx>0.01</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.01</iyy>
<iyz>0</iyz>
<izz>0.01</izz>
</inertia>
</inertial>
<visual name="visual">
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>model://f550_amazing/meshes/cylinder.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name="base_link_cylinder4" type="fixed">
<child>cylinder4</child>
<parent>base_link</parent>
</joint>
<link name="grip4">
<pose>0 0.0967 -0.02 0 0 3.14159265359</pose>
<inertial>
<mass>0.01</mass>
<inertia>
<ixx>0.01</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.01</iyy>
<iyz>0</iyz>
<izz>0.01</izz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>model://f550_amazing/meshes/grip.stl</uri>
</mesh>
</geometry>
<surface>
<contact>
<ode>
<min_depth>0.001</min_depth>
</ode>
</contact>
<friction>
<ode>
<mu>50</mu>
<mu2>50</mu2>
</ode>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>model://f550_amazing/meshes/grip.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name="cylinder_grip4" type="revolute">
<pose>0 0 0 0 0 0</pose>
<child>grip4</child>
<parent>cylinder4</parent>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>0.001</lower>
<upper>1.570</upper>
<velocity>1</velocity>
</limit>
<dynamics>
<damping>5</damping>
<friction>0.5</friction>
</dynamics>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>'
</ode>
</physics>
</joint>
<!-- ######################################### /grip4 ############################################### -->
<!-- ######################################### grip5 ############################################### -->
<link name="cylinder5">
<pose>-0.0837446656546 0.04835 0 0 0 4.18879020479</pose>
<inertial>
<mass>0.01</mass>
<inertia>
<ixx>0.01</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.01</iyy>
<iyz>0</iyz>
<izz>0.01</izz>
</inertia>
</inertial>
<visual name="visual">
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>model://f550_amazing/meshes/cylinder.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name="base_link_cylinder5" type="fixed">
<child>cylinder5</child>
<parent>base_link</parent>
</joint>
<link name="grip5">
<pose>-0.0837446656546 0.04835 -0.02 0 0 4.18879020479</pose>
<inertial>
<mass>0.01</mass>
<inertia>
<ixx>0.01</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.01</iyy>
<iyz>0</iyz>
<izz>0.01</izz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>model://f550_amazing/meshes/grip_long.stl</uri>
</mesh>
</geometry>
<surface>
<contact>
<ode>
<min_depth>0.001</min_depth>
</ode>
</contact>
<friction>
<ode>
<mu>50</mu>
<mu2>50</mu2>
</ode>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>model://f550_amazing/meshes/grip_long.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name="cylinder_grip5" type="revolute">
<pose>0 0 0 0 0 0</pose>
<child>grip5</child>
<parent>cylinder5</parent>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>0.001</lower>
<upper>1.570</upper>
<velocity>1</velocity>
</limit>
<dynamics>
<damping>5</damping>
<friction>0.5</friction>
</dynamics>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>'
</ode>
</physics>
</joint>
<!-- ######################################### /grip5 ############################################### -->
<!-- ######################################### grip6 ############################################### -->
<link name="cylinder6">
<pose>-0.0837446656546 -0.04835 0 0 0 -1.0471975512</pose>
<inertial>
<mass>0.01</mass>
<inertia>
<ixx>0.01</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.01</iyy>
<iyz>0</iyz>
<izz>0.01</izz>
</inertia>
</inertial>
<visual name="visual">
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>model://f550_amazing/meshes/cylinder.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name="base_link_cylinder6" type="fixed">
<child>cylinder6</child>
<parent>base_link</parent>
</joint>
<link name="grip6">
<pose>-0.0837446656546 -0.04835 -0.02 0 0 -1.0471975512</pose>
<inertial>
<mass>0.01</mass>
<inertia>
<ixx>0.01</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.01</iyy>
<iyz>0</iyz>
<izz>0.01</izz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>model://f550_amazing/meshes/grip.stl</uri>
</mesh>
</geometry>
<surface>
<contact>
<ode>
<min_depth>0.001</min_depth>
</ode>
</contact>
<friction>
<ode>
<mu>50</mu>
<mu2>50</mu2>
</ode>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>model://f550_amazing/meshes/grip.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name="cylinder_grip6" type="revolute">
<pose>0 0 0 0 0 0</pose>
<child>grip6</child>
<parent>cylinder6</parent>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>0.001</lower>
<upper>1.570</upper>
<velocity>1</velocity>
</limit>
<dynamics>
<damping>5</damping>
<friction>0.5</friction>
</dynamics>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>'
</ode>
</physics>
</joint>
<!-- ######################################### /grip6 ############################################### -->
<!-- ###################################### GRIPPER PLUGIN ########################################## -->
<plugin name="hex_gripper_control" filename="libgripper_plugin.so" />
<!-- ###################################### /GRIPPER PLUGIN ######################################### -->
<!-- ##################################### MOTOR PLUGINS ######################################### -->
<plugin name='front_right_motor_model' filename='librotors_gazebo_motor_model.so'>
<robotNamespace></robotNamespace>
<jointName>rotor_0_joint</jointName>
<linkName>rotor_0</linkName>
<turningDirection>ccw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>1100</maxRotVelocity>
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.06</momentConstant>
<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
<motorNumber>4</motorNumber>
<rotorDragCoefficient>0.000806428</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>/motor_speed/4</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
</plugin>
<plugin name='back_left_motor_model' filename='librotors_gazebo_motor_model.so'>
<robotNamespace></robotNamespace>
<jointName>rotor_1_joint</jointName>
<linkName>rotor_1</linkName>
<turningDirection>cw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>1100</maxRotVelocity>
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.06</momentConstant>
<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
<motorNumber>5</motorNumber>
<rotorDragCoefficient>0.000806428</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>/motor_speed/5</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
</plugin>
<plugin name='front_left_motor_model' filename='librotors_gazebo_motor_model.so'>
<robotNamespace></robotNamespace>
<jointName>rotor_2_joint</jointName>
<linkName>rotor_2</linkName>
<turningDirection>cw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>1100</maxRotVelocity>
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.06</momentConstant>
<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
<motorNumber>2</motorNumber>
<rotorDragCoefficient>0.000806428</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>/motor_speed/2</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
</plugin>
<plugin name='back_right_motor_model' filename='librotors_gazebo_motor_model.so'>
<robotNamespace></robotNamespace>
<jointName>rotor_3_joint</jointName>
<linkName>rotor_3</linkName>
<turningDirection>ccw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>1100</maxRotVelocity>
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.06</momentConstant>
<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
<motorNumber>3</motorNumber>
<rotorDragCoefficient>0.000806428</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>/motor_speed/3</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
</plugin>
<plugin name='back_left_motor_model' filename='librotors_gazebo_motor_model.so'>
<robotNamespace></robotNamespace>
<jointName>rotor_4_joint</jointName>
<linkName>rotor_4</linkName>
<turningDirection>cw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>1100</maxRotVelocity>
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.06</momentConstant>
<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
<motorNumber>0</motorNumber>
<rotorDragCoefficient>0.000806428</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>/motor_speed/0</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
</plugin>
<plugin name='front_left_motor_model' filename='librotors_gazebo_motor_model.so'>
<robotNamespace></robotNamespace>
<jointName>rotor_5_joint</jointName>
<linkName>rotor_5</linkName>
<turningDirection>ccw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>1100</maxRotVelocity>
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.06</momentConstant>
<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
<motorNumber>1</motorNumber>
<rotorDragCoefficient>0.000806428</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>/motor_speed/1</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
</plugin>
<!-- #################################### /MOTOR PLUGINS ######################################### -->
<!-- ################################### MAVLINK PLUGIN ########################################## -->
<plugin name='mavlink_interface' filename='librotors_gazebo_mavlink_interface.so'>
<robotNamespace></robotNamespace>
<imuSubTopic>/imu</imuSubTopic>
<motorSpeedCommandPubTopic>/gazebo/command/motor_speed</motorSpeedCommandPubTopic>
<control_channels>
<channel name="rotor0">
<input_index>0</input_index>
<input_offset>1</input_offset>
<input_scaling>450</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>100</zero_position_armed>
<joint_control_type>velocity</joint_control_type>
<joint_name>rotor_4_joint</joint_name>
</channel>
<channel name="rotor1">
<input_index>1</input_index>
<input_offset>1</input_offset>
<input_scaling>450</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>100</zero_position_armed>
<joint_control_type>velocity</joint_control_type>
<joint_name>rotor_5_joint</joint_name>
</channel>
<channel name="rotor2">
<input_index>2</input_index>
<input_offset>1</input_offset>
<input_scaling>450</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>100</zero_position_armed>
<joint_control_type>velocity</joint_control_type>
<joint_name>rotor_2_joint</joint_name>
</channel>
<channel name="rotor3">
<input_index>3</input_index>
<input_offset>1</input_offset>
<input_scaling>450</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>100</zero_position_armed>
<joint_control_type>velocity</joint_control_type>
<joint_name>rotor_3_joint</joint_name>
</channel>
<channel name="rotor4">
<input_index>4</input_index>
<input_offset>1</input_offset>
<input_scaling>450</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>100</zero_position_armed>
<joint_control_type>velocity</joint_control_type>
<joint_name>rotor_0_joint</joint_name>
</channel>
<channel name="rotor5">
<input_index>5</input_index>
<input_offset>1</input_offset>
<input_scaling>450</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>100</zero_position_armed>
<joint_control_type>velocity</joint_control_type>
<joint_name>rotor_1_joint</joint_name>
</channel>
<channel name="gimbal_roll">
<input_index>6</input_index>
<input_offset>0</input_offset>
<input_scaling>-3.1415</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>0</zero_position_armed>
<joint_control_type>position_gztopic</joint_control_type>
<gztopic>/gimbal_roll_cmd</gztopic>
<joint_name>typhoon_h480::cgo3_camera_joint</joint_name>
</channel>
<channel name="gimbal_pitch">
<input_index>7</input_index>
<input_offset>0</input_offset>
<input_scaling>3.1415</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>0</zero_position_armed>
<joint_control_type>position_gztopic</joint_control_type>
<gztopic>/gimbal_pitch_cmd</gztopic>
<joint_name>typhoon_h480::cgo3_camera_joint</joint_name>
</channel>
<channel name="gimbal_yaw">
<input_index>8</input_index>
<input_offset>-0.5</input_offset>
<input_scaling>-3.1415</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>0</zero_position_armed>
<joint_control_type>position_gztopic</joint_control_type>
<gztopic>/gimbal_yaw_cmd</gztopic>
<joint_name>typhoon_h480::cgo3_vertical_arm_joint</joint_name>
</channel>
<channel name="left_leg">
<input_index>9</input_index>
<input_offset>1</input_offset>
<input_scaling>1</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>0</zero_position_armed>
<joint_control_type>position</joint_control_type>
<joint_control_pid>
<p>50.0</p>
<i>0</i>
<d>0</d>
<iMax>0</iMax>
<iMin>0</iMin>
<cmdMax>10</cmdMax>
<cmdMin>-10</cmdMin>
</joint_control_pid>
<joint_name>left_leg_joint</joint_name>
</channel>
<channel name="right_leg">
<input_index>10</input_index>
<input_offset>1</input_offset>
<input_scaling>1</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>0</zero_position_armed>
<joint_control_type>position</joint_control_type>
<joint_control_pid>
<p>50.0</p>
<i>0</i>
<d>0</d>
<iMax>0</iMax>
<iMin>0</iMin>
<cmdMax>10</cmdMax>
<cmdMin>-10</cmdMin>
</joint_control_pid>
<joint_name>right_leg_joint</joint_name>
</channel>
</control_channels>
</plugin>
<!-- ################################### /MAVLINK PLUGIN ######################################### -->
<!-- ################################### IMU PLUGIN ############################################## -->
<plugin name='rotors_gazebo_imu_plugin' filename='librotors_gazebo_imu_plugin.so'>
<robotNamespace></robotNamespace>
<linkName>imu_link</linkName>
<imuTopic>/imu</imuTopic>
<gyroscopeNoiseDensity>0</gyroscopeNoiseDensity>
<gyroscopeRandomWalk>0</gyroscopeRandomWalk>
<gyroscopeBiasCorrelationTime>1000.0</gyroscopeBiasCorrelationTime>
<gyroscopeTurnOnBiasSigma>0</gyroscopeTurnOnBiasSigma>
<accelerometerNoiseDensity>0</accelerometerNoiseDensity>
<accelerometerRandomWalk>0</accelerometerRandomWalk>
<accelerometerBiasCorrelationTime>300.0</accelerometerBiasCorrelationTime>
<accelerometerTurnOnBiasSigma>0</accelerometerTurnOnBiasSigma>
</plugin>
<!-- ################################## /IMU PLUGIN ############################################## -->
</model>
</sdf>