PX4-Autopilot/Tools/simulation/gz/models/omnicopter/model.sdf

<?xml version="1.0" encoding="UTF-8"?>
<sdf version='1.9'>
  <model name='omnicopter'>
    <self_collide>false</self_collide>
    <static>false</static>
    <link name='base_link'>
      <pose>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>1.5</mass>
        <inertia>
          <ixx>0.085225</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.085225</iyy>
          <iyz>0</iyz>
          <izz>0.085225</izz>
        </inertia>
      </inertial>
      <collision name='base_link_inertia_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.5 0.5 0.5</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode>
              <min_depth>0.001</min_depth>
              <max_vel>0</max_vel>
            </ode>
          </contact>
          <friction>
            <ode />
          </friction>
        </surface>
      </collision>
      <visual name='base_link_inertia_visual'>
        <pose>-0.23 -0.32 -0.45 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>model://omnicopter/meshes/omnicopter.stl</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/DarkGrey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <gravity>true</gravity>
      <velocity_decay />
      <sensor name="air_pressure_sensor" type="air_pressure">
        <gz_frame_id>base_link</gz_frame_id>
        <always_on>1</always_on>
        <update_rate>50</update_rate>
        <air_pressure>
          <pressure>
            <noise type="gaussian">
              <mean>0</mean>
              <stddev>0.01</stddev>
            </noise>
          </pressure>
        </air_pressure>
      </sensor>
      <sensor name="imu_sensor" type="imu">
        <gz_frame_id>base_link</gz_frame_id>
        <always_on>1</always_on>
        <update_rate>250</update_rate>
        <imu>
          <angular_velocity>
            <x>
              <noise type="gaussian">
                <mean>0</mean>
                <stddev>0.00018665</stddev>
                <dynamic_bias_stddev>3.8785e-05</dynamic_bias_stddev>
                <dynamic_bias_correlation_time>1000</dynamic_bias_correlation_time>
              </noise>
            </x>
            <y>
              <noise type="gaussian">
                <mean>0</mean>
                <stddev>0.00018665</stddev>
                <dynamic_bias_stddev>3.8785e-05</dynamic_bias_stddev>
                <dynamic_bias_correlation_time>1000</dynamic_bias_correlation_time>
              </noise>
            </y>
            <z>
              <noise type="gaussian">
                <mean>0</mean>
                <stddev>0.00018665</stddev>
                <dynamic_bias_stddev>3.8785e-05</dynamic_bias_stddev>
                <dynamic_bias_correlation_time>1000</dynamic_bias_correlation_time>
              </noise>
            </z>
          </angular_velocity>
          <linear_acceleration>
            <x>
              <noise type="gaussian">
                <mean>0</mean>
                <stddev>0.00186</stddev>
                <dynamic_bias_stddev>0.006</dynamic_bias_stddev>
                <dynamic_bias_correlation_time>300</dynamic_bias_correlation_time>
              </noise>
            </x>
            <y>
              <noise type="gaussian">
                <mean>0</mean>
                <stddev>0.00186</stddev>
                <dynamic_bias_stddev>0.006</dynamic_bias_stddev>
                <dynamic_bias_correlation_time>300</dynamic_bias_correlation_time>
              </noise>
            </y>
            <z>
              <noise type="gaussian">
                <mean>0</mean>
                <stddev>0.00186</stddev>
                <dynamic_bias_stddev>0.006</dynamic_bias_stddev>
                <dynamic_bias_correlation_time>300</dynamic_bias_correlation_time>
              </noise>
            </z>
          </linear_acceleration>
        </imu>
      </sensor>
      <sensor name="magnetometer_sensor" type="magnetometer">
        <gz_frame_id>base_link</gz_frame_id>
        <always_on>1</always_on>
        <update_rate>100</update_rate>
        <magnetometer>
          <!-- TODO: update to fix units and coordinate system when we move past Harmonic -->
          <!-- See https://github.com/gazebosim/gz-sim/pull/2460 -->
          <!-- 3mgauss RMS: NOTE: noise is in tesla but sensor reports data in gauss -->
          <!-- Noise modeled after IIS2MDC -->
          <x>
            <noise type="gaussian">
              <stddev>0.0001</stddev>
            </noise>
          </x>
          <y>
            <noise type="gaussian">
              <stddev>0.0001</stddev>
            </noise>
          </y>
          <z>
            <noise type="gaussian">
              <stddev>0.0001</stddev>
            </noise>
          </z>
        </magnetometer>
      </sensor>
      <sensor name="navsat_sensor" type="navsat">
        <gz_frame_id>base_link</gz_frame_id>
        <always_on>1</always_on>
        <update_rate>30</update_rate>
      </sensor>
    </link>
    <link name='rotor_0'>
      <pose>0.1 0.1 0.1 -0.350879 -0.908651 0.172719</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <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'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <cylinder>
            <length>0.005</length>
            <radius>0.064</radius>
          </cylinder>
        </geometry>
        <surface>
          <contact>
            <ode />
          </contact>
          <friction>
            <ode />
          </friction>
        </surface>
      </collision>
      <visual name='rotor_0_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>0.5 0.5 0.5</scale>
            <uri>model://omnicopter/meshes/iris_prop_ccw.dae</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Blue</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay />
    </link>
    <joint name='rotor_0_joint' type='revolute'>
      <child>rotor_0</child>
      <parent>base_link</parent>
      <axis>
        <xyz expressed_in="__model__">-0.788675 0.211325 0.57735</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>

      </axis>
    </joint>
    <link name='rotor_1'>
      <pose>-0.1 0.1 0.1 -2.20271 0.21293 -0.415283</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <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_1_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <cylinder>
            <length>0.005</length>
            <radius>0.064</radius>
          </cylinder>
        </geometry>
        <surface>
          <contact>
            <ode />
          </contact>
          <friction>
            <ode />
          </friction>
        </surface>
      </collision>
      <visual name='rotor_1_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>0.5 0.5 0.5</scale>
            <uri>model://omnicopter/meshes/iris_prop_ccw.dae</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/DarkGrey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay />
    </link>
    <joint name='rotor_1_joint' type='revolute'>
      <child>rotor_1</child>
      <parent>base_link</parent>
      <axis>
        <xyz expressed_in="__model__">0.211325 0.788675 -0.57735</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='rotor_2'>
      <pose>0.1 -0.1 0.1 2.20271 -0.21293 -0.415283</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <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_2_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <cylinder>
            <length>0.005</length>
            <radius>0.064</radius>
          </cylinder>
        </geometry>
        <surface>
          <contact>
            <ode />
          </contact>
          <friction>
            <ode />
          </friction>
        </surface>
      </collision>
      <visual name='rotor_2_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>0.5 0.5 0.5</scale>
            <uri>model://omnicopter/meshes/iris_prop_cw.dae</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Blue</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay />
    </link>
    <joint name='rotor_2_joint' type='revolute'>
      <child>rotor_2</child>
      <parent>base_link</parent>
      <axis>
        <xyz expressed_in="__model__">-0.211325 -0.788675 -0.57735</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>

      </axis>
    </joint>
    <link name='rotor_3'>
      <pose>-0.1 -0.1 0.1 0.350879 0.908651 0.172719</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <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_3_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <cylinder>
            <length>0.005</length>
            <radius>0.064</radius>
          </cylinder>
        </geometry>
        <surface>
          <contact>
            <ode />
          </contact>
          <friction>
            <ode />
          </friction>
        </surface>
      </collision>
      <visual name='rotor_3_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>0.5 0.5 0.5</scale>
            <uri>model://omnicopter/meshes/iris_prop_cw.dae</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/DarkGrey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay />
    </link>
    <joint name='rotor_3_joint' type='revolute'>
      <child>rotor_3</child>
      <parent>base_link</parent>
      <axis>
        <xyz expressed_in="__model__">0.788675 -0.211325 0.57735</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>

      </axis>
    </joint>
    <link name='rotor_4'>
      <pose>0.1 0.1 -0.1 0.350879 0.908651 0.172719</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <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_4_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <cylinder>
            <length>0.005</length>
            <radius>0.064</radius>
          </cylinder>
        </geometry>
        <surface>
          <contact>
            <ode />
          </contact>
          <friction>
            <ode />
          </friction>
        </surface>
      </collision>
      <visual name='rotor_4_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>0.5 0.5 0.5</scale>
            <uri>model://omnicopter/meshes/iris_prop_cw.dae</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/DarkGrey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay />
    </link>
    <joint name='rotor_4_joint' type='revolute'>
      <child>rotor_4</child>
      <parent>base_link</parent>
      <axis>
        <xyz expressed_in="__model__">0.788675 -0.211325 0.57735</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>

      </axis>
    </joint>
    <link name='rotor_5'>
      <pose>-0.1 0.1 -0.1 2.20271 -0.21293 -0.415283</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <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_5_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <cylinder>
            <length>0.005</length>
            <radius>0.064</radius>
          </cylinder>
        </geometry>
        <surface>
          <contact>
            <ode />
          </contact>
          <friction>
            <ode />
          </friction>
        </surface>
      </collision>
      <visual name='rotor_5_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>0.5 0.5 0.5</scale>
            <uri>model://omnicopter/meshes/iris_prop_cw.dae</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/DarkGrey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay />
    </link>
    <joint name='rotor_5_joint' type='revolute'>
      <child>rotor_5</child>
      <parent>base_link</parent>
      <axis>
        <xyz expressed_in="__model__">-0.211325 -0.788675 -0.57735</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>

      </axis>
    </joint>
    <link name='rotor_6'>
      <pose>0.1 -0.1 -0.1 -2.20271 0.21293 -0.415283</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <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_6_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <cylinder>
            <length>0.005</length>
            <radius>0.064</radius>
          </cylinder>
        </geometry>
        <surface>
          <contact>
            <ode />
          </contact>
          <friction>
            <ode />
          </friction>
        </surface>
      </collision>
      <visual name='rotor_6_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>0.5 0.5 0.5</scale>
            <uri>model://omnicopter/meshes/iris_prop_cw.dae</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/DarkGrey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay />
    </link>
    <joint name='rotor_6_joint' type='revolute'>
      <child>rotor_6</child>
      <parent>base_link</parent>
      <axis>
        <xyz expressed_in="__model__">0.211325 0.788675 -0.57735</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='rotor_7'>
      <pose>-0.1 -0.1 -0.1 -0.350879 -0.908651 0.172719</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <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_7_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <cylinder>
            <length>0.005</length>
            <radius>0.064</radius>
          </cylinder>
        </geometry>
        <surface>
          <contact>
            <ode />
          </contact>
          <friction>
            <ode />
          </friction>
        </surface>
      </collision>
      <visual name='rotor_7_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>0.5 0.5 0.5</scale>
            <uri>model://omnicopter/meshes/iris_prop_cw.dae</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/DarkGrey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay />
    </link>
    <joint name='rotor_7_joint' type='revolute'>
      <child>rotor_7</child>
      <parent>base_link</parent>
      <axis>
        <xyz expressed_in="__model__">-0.788675 0.211325 0.57735</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>

    <plugin filename="gz-sim-multicopter-motor-model-system"
      name="gz::sim::systems::MulticopterMotorModel">
      <jointName>rotor_0_joint</jointName>
      <linkName>rotor_0</linkName>
      <turningDirection>ccw</turningDirection>
      <timeConstantUp>0.0125</timeConstantUp>
      <timeConstantDown>0.025</timeConstantDown>
      <maxRotVelocity>1100.0</maxRotVelocity>
      <motorConstant>2.50972e-05</motorConstant>
      <momentConstant>0.06</momentConstant>
      <commandSubTopic>command/motor_speed</commandSubTopic>
      <motorNumber>0</motorNumber>
      <rotorDragCoefficient>0.000175</rotorDragCoefficient>
      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
      <motorType>velocity</motorType>
    </plugin>
    <plugin filename="gz-sim-multicopter-motor-model-system"
      name="gz::sim::systems::MulticopterMotorModel">
      <jointName>rotor_1_joint</jointName>
      <linkName>rotor_1</linkName>
      <turningDirection>ccw</turningDirection>
      <timeConstantUp>0.0125</timeConstantUp>
      <timeConstantDown>0.025</timeConstantDown>
      <maxRotVelocity>1100.0</maxRotVelocity>
      <motorConstant>2.50972e-05</motorConstant>
      <momentConstant>0.06</momentConstant>
      <commandSubTopic>command/motor_speed</commandSubTopic>
      <motorNumber>1</motorNumber>
      <rotorDragCoefficient>0.000175</rotorDragCoefficient>
      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
      <motorType>velocity</motorType>
    </plugin>
    <plugin filename="gz-sim-multicopter-motor-model-system"
      name="gz::sim::systems::MulticopterMotorModel">
      <jointName>rotor_2_joint</jointName>
      <linkName>rotor_2</linkName>
      <turningDirection>ccw</turningDirection>
      <timeConstantUp>0.0125</timeConstantUp>
      <timeConstantDown>0.025</timeConstantDown>
      <maxRotVelocity>1100.0</maxRotVelocity>
      <motorConstant>2.50972e-05</motorConstant>
      <momentConstant>0.06</momentConstant>
      <commandSubTopic>command/motor_speed</commandSubTopic>
      <motorNumber>2</motorNumber>
      <rotorDragCoefficient>0.000175</rotorDragCoefficient>
      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
      <motorType>velocity</motorType>
    </plugin>
    <plugin filename="gz-sim-multicopter-motor-model-system"
      name="gz::sim::systems::MulticopterMotorModel">
      <jointName>rotor_3_joint</jointName>
      <linkName>rotor_3</linkName>
      <turningDirection>ccw</turningDirection>
      <timeConstantUp>0.0125</timeConstantUp>
      <timeConstantDown>0.025</timeConstantDown>
      <maxRotVelocity>1100.0</maxRotVelocity>
      <motorConstant>2.50972e-05</motorConstant>
      <momentConstant>0.06</momentConstant>
      <commandSubTopic>command/motor_speed</commandSubTopic>
      <motorNumber>3</motorNumber>
      <rotorDragCoefficient>0.000175</rotorDragCoefficient>
      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
      <motorType>velocity</motorType>
    </plugin>
    <plugin filename="gz-sim-multicopter-motor-model-system"
      name="gz::sim::systems::MulticopterMotorModel">
      <jointName>rotor_4_joint</jointName>
      <linkName>rotor_4</linkName>
      <turningDirection>ccw</turningDirection>
      <timeConstantUp>0.0125</timeConstantUp>
      <timeConstantDown>0.025</timeConstantDown>
      <maxRotVelocity>1100.0</maxRotVelocity>
      <motorConstant>2.50972e-05</motorConstant>
      <momentConstant>0.06</momentConstant>
      <commandSubTopic>command/motor_speed</commandSubTopic>
      <motorNumber>4</motorNumber>
      <rotorDragCoefficient>0.000175</rotorDragCoefficient>
      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
      <motorType>velocity</motorType>
    </plugin>
    <plugin filename="gz-sim-multicopter-motor-model-system"
      name="gz::sim::systems::MulticopterMotorModel">
      <jointName>rotor_5_joint</jointName>
      <linkName>rotor_5</linkName>
      <turningDirection>ccw</turningDirection>
      <timeConstantUp>0.0125</timeConstantUp>
      <timeConstantDown>0.025</timeConstantDown>
      <maxRotVelocity>1100.0</maxRotVelocity>
      <motorConstant>2.50972e-05</motorConstant>
      <momentConstant>0.06</momentConstant>
      <commandSubTopic>command/motor_speed</commandSubTopic>
      <motorNumber>5</motorNumber>
      <rotorDragCoefficient>0.000175</rotorDragCoefficient>
      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
      <motorType>velocity</motorType>
    </plugin>
    <plugin filename="gz-sim-multicopter-motor-model-system"
      name="gz::sim::systems::MulticopterMotorModel">
      <jointName>rotor_6_joint</jointName>
      <linkName>rotor_6</linkName>
      <turningDirection>ccw</turningDirection>
      <timeConstantUp>0.0125</timeConstantUp>
      <timeConstantDown>0.025</timeConstantDown>
      <maxRotVelocity>1100.0</maxRotVelocity>
      <motorConstant>2.50972e-05</motorConstant>
      <momentConstant>0.06</momentConstant>
      <commandSubTopic>command/motor_speed</commandSubTopic>
      <motorNumber>6</motorNumber>
      <rotorDragCoefficient>0.000175</rotorDragCoefficient>
      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
      <motorType>velocity</motorType>
    </plugin>
    <plugin filename="gz-sim-multicopter-motor-model-system"
      name="gz::sim::systems::MulticopterMotorModel">
      <jointName>rotor_7_joint</jointName>
      <linkName>rotor_7</linkName>
      <turningDirection>ccw</turningDirection>
      <timeConstantUp>0.0125</timeConstantUp>
      <timeConstantDown>0.025</timeConstantDown>
      <maxRotVelocity>1100.0</maxRotVelocity>
      <motorConstant>2.50972e-05</motorConstant>
      <momentConstant>0.06</momentConstant>
      <commandSubTopic>command/motor_speed</commandSubTopic>
      <motorNumber>7</motorNumber>
      <rotorDragCoefficient>0.000175</rotorDragCoefficient>
      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
      <motorType>velocity</motorType>
    </plugin>
  </model>
</sdf>