From 1808abac87aef4097b912e4b5668f042f8f54d5a Mon Sep 17 00:00:00 2001
From: Rhys Mainwaring <rhys.mainwaring@me.com>
Date: Fri, 16 Dec 2022 16:23:29 +0000
Subject: [PATCH] Cleanup models (#35)

- Remove cmac world - StaticMapPlugin not available in Gazebo Sim
- Rename world files and use .sdf suffix.
- Update runway model - reduce the gap between the airstrip and ground as upstream z-order has been fixed.
- Update zephyr runway world - remove commented out pose.
- Update iris warehouse world - remove models that do not load because of incorrect server details.
- Split zephyr model into a base model and plugin model with ardupilot integration.
- Set zephyr runway model to run with RTF > 1
- Update README - describe how to run the zephyr model.

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
---
 README.md                                     |  62 ++-
 models/runway/model.config                    |   2 +-
 models/runway/model.sdf                       |   4 +-
 .../materials/textures/wing.png               | Bin
 .../meshes/wing.dae                           |   0
 models/zephyr/model.config                    |  24 +
 models/zephyr/model.sdf                       | 285 +++++++++++
 .../thumbnails/1.png                          | Bin
 .../thumbnails/2.png                          | Bin
 .../thumbnails/3.png                          | Bin
 .../thumbnails/4.png                          | Bin
 .../thumbnails/5.png                          | Bin
 models/zephyr_with_ardupilot/model.sdf        | 416 +---------------
 worlds/iris_arducopter_cmac.world             |  51 --
 worlds/iris_arducopter_edifice_demo.world     | 459 ------------------
 ...rducopter_runway.world => iris_runway.sdf} |   7 +-
 worlds/iris_warehouse.sdf                     | 435 +++++++++++++++++
 ...duplane_runway.world => zephyr_runway.sdf} |   9 +-
 18 files changed, 832 insertions(+), 922 deletions(-)
 rename models/{zephyr_with_ardupilot => zephyr}/materials/textures/wing.png (100%)
 rename models/{zephyr_with_ardupilot => zephyr}/meshes/wing.dae (100%)
 create mode 100644 models/zephyr/model.config
 create mode 100644 models/zephyr/model.sdf
 rename models/{zephyr_with_ardupilot => zephyr}/thumbnails/1.png (100%)
 rename models/{zephyr_with_ardupilot => zephyr}/thumbnails/2.png (100%)
 rename models/{zephyr_with_ardupilot => zephyr}/thumbnails/3.png (100%)
 rename models/{zephyr_with_ardupilot => zephyr}/thumbnails/4.png (100%)
 rename models/{zephyr_with_ardupilot => zephyr}/thumbnails/5.png (100%)
 delete mode 100755 worlds/iris_arducopter_cmac.world
 delete mode 100644 worlds/iris_arducopter_edifice_demo.world
 rename worlds/{iris_arducopter_runway.world => iris_runway.sdf} (86%)
 create mode 100644 worlds/iris_warehouse.sdf
 rename worlds/{zephyr_arduplane_runway.world => zephyr_runway.sdf} (87%)

diff --git a/README.md b/README.md
index 29e6439..caa1101 100644
--- a/README.md
+++ b/README.md
@@ -65,9 +65,7 @@ cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo
 make -j4
 ```
 
-## Usage
-
-### Configure environment
+## Configure
 
 Set the Gazebo environment variables in your `.bashrc` or `.zshrc` or in 
 the terminal used to run Gazebo.
@@ -92,26 +90,30 @@ echo 'export GZ_SIM_RESOURCE_PATH=$HOME/ardupilot_gazebo/models:$HOME/ardupilot_
 
 Reload your terminal with `source ~/.bashrc` (or `source ~/.zshrc` on macOS).
 
-### Run Gazebo
+## Usage
+
+### 1. Iris quad-copter
+
+#### Run Gazebo
 
 ```bash
-gz sim -v4 -r iris_arducopter_runway.world
+gz sim -v4 -r iris_runway.sdf
 ```
 
 The `-v4` parameter is not mandatory, it shows additional information and is
 useful for troubleshooting.
 
-### Run ArduPilot SITL
+#### Run ArduPilot SITL
 
 To run an ArduPilot simulation with Gazebo, the frame should have `gazebo-`
 in it and have `JSON` as model. Other commandline parameters are the same
-as usal on SITL.
+as usual on SITL.
 
 ```bash
 sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --map --console
 ```
 
-### Arm and takeoff
+#### Arm and takeoff
 
 ```bash
 STABILIZE> mode guided
@@ -119,6 +121,50 @@ GUIDED> arm throttle
 GUIDED> takeoff 5
 ```
 
+### 2. Zephyr delta wing  
+
+The Zephyr delta wing is positioned on the runway for vertical take-off. 
+
+#### Run Gazebo
+
+```bash
+gz sim -v4 -r zephyr_runway.sdf
+```
+
+#### Run ArduPilot SITL
+
+```bash
+sim_vehicle.py -v ArduPlane -f gazebo-zephyr --model JSON --map --console
+```
+
+#### Arm, takeoff and circle
+
+```bash
+MANUAL> mode fbwa
+FBWA> arm throttle
+FBWA> rc 3 1800
+FBWA> mode circle
+```
+
+#### Increase the simulation speed
+
+The `zephyr_runway.sdf` world has a `<physics>` element configured to run
+faster than real time: 
+
+```xml
+<physics name="1ms" type="ignore">
+  <max_step_size>0.001</max_step_size>
+  <real_time_factor>-1.0</real_time_factor>
+</physics>
+```
+
+To see the effect of the speed-up set the param `SIM_SPEEDUP` to a value
+greater than one:
+
+```bash
+MANUAL> param set SIM_SPEEDUP 10
+```
+
 ## Troubleshooting
 
 For issues concerning installing and running Gazebo on your platform please
diff --git a/models/runway/model.config b/models/runway/model.config
index cfe70c1..5548d70 100755
--- a/models/runway/model.config
+++ b/models/runway/model.config
@@ -2,7 +2,7 @@
 <model>
   <name>Runway</name>
   <version>1.0</version>
-  <sdf version="1.6">model.sdf</sdf>
+  <sdf version="1.7">model.sdf</sdf>
 
   <author>
     <name>Rhys Mainwaring</name>
diff --git a/models/runway/model.sdf b/models/runway/model.sdf
index cc892b3..bbe2be2 100755
--- a/models/runway/model.sdf
+++ b/models/runway/model.sdf
@@ -1,5 +1,5 @@
 <?xml version='1.0'?>
-<sdf version="1.6">
+<sdf version="1.7">
   <model name="runway">
     <static>true</static>
     <link name="link">
@@ -34,7 +34,7 @@
         </material>
       </visual>
       <visual name="airfield">
-        <pose>0 0 -0.5 0 0 0</pose>
+        <pose>0 0 -0.01 0 0 0</pose>
         <cast_shadows>false</cast_shadows>
         <geometry>
           <mesh>
diff --git a/models/zephyr_with_ardupilot/materials/textures/wing.png b/models/zephyr/materials/textures/wing.png
similarity index 100%
rename from models/zephyr_with_ardupilot/materials/textures/wing.png
rename to models/zephyr/materials/textures/wing.png
diff --git a/models/zephyr_with_ardupilot/meshes/wing.dae b/models/zephyr/meshes/wing.dae
similarity index 100%
rename from models/zephyr_with_ardupilot/meshes/wing.dae
rename to models/zephyr/meshes/wing.dae
diff --git a/models/zephyr/model.config b/models/zephyr/model.config
new file mode 100644
index 0000000..308325c
--- /dev/null
+++ b/models/zephyr/model.config
@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>Zephyr Delta Wing</name>
+  <version>1.0</version>
+  <sdf version="1.7">model.sdf</sdf>
+
+  <author>
+    <name>Cole Biesemeyer</name>
+    <email>cole.bsmr@gmail.com</email>
+  </author>
+
+  <author>
+    <name>Nate Koenig</name>
+    <email>natekoenig@gmail.com</email>
+  </author>
+
+  <description>
+    A model of a Zephyr delta wing.
+
+    Updated materials for Gazebo Sim.
+  </description>
+
+</model>
diff --git a/models/zephyr/model.sdf b/models/zephyr/model.sdf
new file mode 100644
index 0000000..711d3ba
--- /dev/null
+++ b/models/zephyr/model.sdf
@@ -0,0 +1,285 @@
+<?xml version="1.0" ?>
+<sdf version="1.7">
+  <model name="zephyr">
+    <link name="wing">
+      <inertial>
+        <pose>0 -0.12 0 0 0 0</pose>
+        <mass>1.5</mass>
+        <inertia>
+          <ixx>0.083137104</ixx>
+          <ixy>0</ixy>
+          <iyy>0.387382402</iyy>
+          <ixz>0</ixz>
+          <iyz>0</iyz>
+          <izz>0.469845106</izz>
+        </inertia>
+      </inertial>
+      <visual name="visual">
+        <geometry>
+          <mesh>
+            <uri>model://zephyr/meshes/wing.dae</uri>
+            <submesh>
+              <name>Wing</name>
+              <center>true</center>
+            </submesh>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="body_collision">
+        <geometry>
+          <mesh>
+            <uri>model://zephyr/meshes/wing.dae</uri>
+            <submesh>
+              <name>Wing</name>
+              <center>true</center>
+            </submesh>
+          </mesh>
+        </geometry>
+      </collision>
+      <collision name="right_rudder_collision">
+        <pose>-0.76435 0.33918 0.002 -0.03 0 0</pose>
+        <geometry>
+          <box>
+            <size>.005 0.12993 .12688</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="left_rudder_collision">
+        <pose>0.76435 0.33918 0.002 -0.03 0 0</pose>
+        <geometry>
+          <box>
+            <size>.005 0.12993 .12688</size>
+          </box>
+        </geometry>
+      </collision>
+
+      <!-- save center of pressure locations for debugging -->
+      <visual name="cp_wing">
+        <pose>0 -0.1 0.0 0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.03</radius>
+          </sphere>
+        </geometry>
+        <material>
+          <ambient>0 0 1</ambient>
+          <diffuse>0 0 1</diffuse>
+          <specular>0.1 0.1 0.1 1</specular>
+        </material>
+      </visual>
+      <visual name="cp_flap_left">
+        <pose>0.7 0.20 0 0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.03</radius>
+          </sphere>
+        </geometry>
+        <material>
+          <ambient>1 0 0</ambient>
+          <diffuse>1 0 0</diffuse>
+          <specular>0.1 0.1 0.1 1</specular>
+        </material>
+      </visual>
+      <visual name="cp_flap_right">
+        <pose>-0.7 0.20 0 0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.03</radius>
+          </sphere>
+        </geometry>
+        <material>
+          <ambient>0 1 0</ambient>
+          <diffuse>0 1 0</diffuse>
+          <specular>0.1 0.1 0.1 1</specular>
+        </material>
+      </visual>
+
+    </link>
+    <link name="propeller">
+      <pose>0 0.07 0.008 0 1.5707 0</pose>
+      <inertial>
+        <mass>.05</mass>
+        <inertia>
+          <ixx>0.000367571</ixx>
+          <ixy>0</ixy>
+          <iyy>0.00036985</iyy>
+          <ixz>0</ixz>
+          <iyz>0</iyz>
+          <izz>0.000003187</izz>
+        </inertia>
+      </inertial>
+      <visual name="visual">
+        <geometry>
+          <mesh>
+            <uri>model://zephyr/meshes/wing.dae</uri>
+            <submesh>
+              <name>Propeller</name>
+              <center>true</center>
+            </submesh>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="blade1">
+        <pose>0 0 0.074205 0 0  0.3</pose>
+        <geometry>
+          <box>
+            <size>0.02561 0.00541 0.14841</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="blade2">
+        <pose>0 0 -0.074205 0 0  -0.3</pose>
+        <geometry>
+          <box>
+            <size>0.02561 0.00541 0.14841</size>
+          </box>
+        </geometry>
+      </collision>
+    </link>
+    <link name="flap_left">
+      <pose>0.4530 .239 0.007 0 0 0</pose>
+      <inertial>
+        <pose>0 0 0 0 0 0.32445671</pose>
+        <mass>.1</mass>
+        <inertia>
+          <ixx>0.000102319</ixx>
+          <ixy>0</ixy>
+          <iyy>0.00334417</iyy>
+          <ixz>0</ixz>
+          <iyz>0</iyz>
+          <izz>0.003446072</izz>
+        </inertia>
+      </inertial>
+      <visual name="visual">
+        <geometry>
+          <mesh>
+            <uri>model://zephyr/meshes/wing.dae</uri>
+            <submesh>
+              <name>Flap_Left</name>
+              <center>true</center>
+            </submesh>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="collision">
+        <pose>-0.01 0.01 0 0 0 0.32445671</pose>
+        <geometry>
+          <box>
+            <size>0.633463031 0.110694312 0.005</size>
+          </box>
+        </geometry>
+      </collision>
+    </link>
+    <link name="flap_right">
+      <pose>-0.4530 .239 0.007 0 0 0</pose>
+      <inertial>
+        <pose>0 0 0 0 0 -0.32445671</pose>
+        <mass>.1</mass>
+        <inertia>
+          <ixx>0.000102319</ixx>
+          <ixy>0</ixy>
+          <iyy>0.00334417</iyy>
+          <ixz>0</ixz>
+          <iyz>0</iyz>
+          <izz>0.003446072</izz>
+        </inertia>
+      </inertial>
+      <visual name="visual">
+        <geometry>
+          <mesh>
+            <uri>model://zephyr/meshes/wing.dae</uri>
+            <submesh>
+              <name>Flap_Right</name>
+              <center>true</center>
+            </submesh>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="collision">
+        <pose>0.01 0.01 0 0 0 -0.32445671</pose>
+        <geometry>
+          <box>
+            <size>0.633463031 0.110694312 0.005</size>
+          </box>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="propeller_joint" type="revolute">
+      <parent>wing</parent>
+      <child>propeller</child>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <dynamics>
+          <damping>0.002</damping>
+        </dynamics>
+      </axis>
+    </joint>
+    <joint name="flap_left_joint" type="revolute">
+      <parent>wing</parent>
+      <child>flap_left</child>
+      <pose>0 -0.04 0 0 0 0</pose>
+      <axis>
+        <xyz>1 0.330321014 0</xyz>
+        <limit>
+          <lower>-0.524</lower>
+          <upper>0.524</upper>
+        </limit>
+        <dynamics>
+          <damping>0.1</damping>
+        </dynamics>
+      </axis>
+    </joint>
+    <joint name="flap_right_joint" type="revolute">
+      <parent>wing</parent>
+      <child>flap_right</child>
+      <pose>0 -0.04 0 0 0 0</pose>
+      <axis>
+        <xyz>1 -0.330321014 0</xyz>
+        <limit>
+          <lower>-0.524</lower>
+          <upper>0.524</upper>
+        </limit>
+        <dynamics>
+          <damping>0.1</damping>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <!-- sensors -->
+    <link name='imu_link'>
+      <inertial>
+        <pose>0 0 0 0 0 0</pose>
+        <mass>0.15</mass>
+        <inertia>
+          <ixx>0.00002</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00002</iyy>
+          <iyz>0</iyz>
+          <izz>0.00002</izz>
+        </inertia>
+      </inertial>
+      <sensor name="imu_sensor" type="imu">
+        <pose>0 0 0 3.141593 0 -1.5707963</pose>
+        <always_on>1</always_on>
+        <update_rate>1000.0</update_rate>
+      </sensor>
+    </link>
+    <joint name='imu_joint' type='revolute'>
+      <child>imu_link</child>
+      <parent>wing</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>0</lower>
+          <upper>0</upper>
+          <effort>0</effort>
+          <velocity>0</velocity>
+        </limit>
+        <dynamics>
+          <damping>1.0</damping>
+        </dynamics>
+      </axis>
+    </joint>
+  </model>
+</sdf>
diff --git a/models/zephyr_with_ardupilot/thumbnails/1.png b/models/zephyr/thumbnails/1.png
similarity index 100%
rename from models/zephyr_with_ardupilot/thumbnails/1.png
rename to models/zephyr/thumbnails/1.png
diff --git a/models/zephyr_with_ardupilot/thumbnails/2.png b/models/zephyr/thumbnails/2.png
similarity index 100%
rename from models/zephyr_with_ardupilot/thumbnails/2.png
rename to models/zephyr/thumbnails/2.png
diff --git a/models/zephyr_with_ardupilot/thumbnails/3.png b/models/zephyr/thumbnails/3.png
similarity index 100%
rename from models/zephyr_with_ardupilot/thumbnails/3.png
rename to models/zephyr/thumbnails/3.png
diff --git a/models/zephyr_with_ardupilot/thumbnails/4.png b/models/zephyr/thumbnails/4.png
similarity index 100%
rename from models/zephyr_with_ardupilot/thumbnails/4.png
rename to models/zephyr/thumbnails/4.png
diff --git a/models/zephyr_with_ardupilot/thumbnails/5.png b/models/zephyr/thumbnails/5.png
similarity index 100%
rename from models/zephyr_with_ardupilot/thumbnails/5.png
rename to models/zephyr/thumbnails/5.png
diff --git a/models/zephyr_with_ardupilot/model.sdf b/models/zephyr_with_ardupilot/model.sdf
index fda1170..940e2b3 100644
--- a/models/zephyr_with_ardupilot/model.sdf
+++ b/models/zephyr_with_ardupilot/model.sdf
@@ -1,387 +1,9 @@
 <?xml version="1.0" ?>
 <sdf version="1.7">
   <model name="zephyr_with_ardupilot">
-    <pose>0 0 0 0 0 0</pose>
-    <link name="wing">
-      <inertial>
-        <pose>0 -0.12 0 0 0 0</pose>
-        <mass>1.5</mass>
-        <inertia>
-          <ixx>0.083137104</ixx>
-          <ixy>0</ixy>
-          <iyy>0.387382402</iyy>
-          <ixz>0</ixz>
-          <iyz>0</iyz>
-          <izz>0.469845106</izz>
-        </inertia>
-      </inertial>
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>model://zephyr_with_ardupilot/meshes/wing.dae</uri>
-            <submesh>
-              <name>Wing</name>
-              <center>true</center>
-            </submesh>
-          </mesh>
-        </geometry>
-      </visual>
-      <collision name="body_collision">
-        <geometry>
-          <mesh>
-            <uri>model://zephyr_with_ardupilot/meshes/wing.dae</uri>
-            <submesh>
-              <name>Wing</name>
-              <center>true</center>
-            </submesh>
-          </mesh>
-        </geometry>
-      </collision>
-      <collision name="right_rudder_collision">
-        <pose>-0.76435 0.33918 0.002 -0.03 0 0</pose>
-        <geometry>
-          <box>
-            <size>.005 0.12993 .12688</size>
-          </box>
-        </geometry>
-      </collision>
-      <collision name="left_rudder_collision">
-        <pose>0.76435 0.33918 0.002 -0.03 0 0</pose>
-        <geometry>
-          <box>
-            <size>.005 0.12993 .12688</size>
-          </box>
-        </geometry>
-      </collision>
-      <!-- save for debugging use -->
-      <visual name="cp_wing">
-        <pose>0 -0.1 0.0 0 0 0</pose>
-        <geometry>
-          <sphere>
-            <radius>0.03</radius>
-          </sphere>
-        </geometry>
-        <material>
-          <ambient>0 0 1</ambient>
-          <diffuse>0 0 1</diffuse>
-          <specular>0.1 0.1 0.1 1</specular>
-        </material>
-      </visual>
-      <visual name="cp_flap_left">
-        <pose>0.7 0.20 0 0 0 0</pose>
-        <geometry>
-          <sphere>
-            <radius>0.03</radius>
-          </sphere>
-        </geometry>
-        <material>
-          <ambient>1 0 0</ambient>
-          <diffuse>1 0 0</diffuse>
-          <specular>0.1 0.1 0.1 1</specular>
-        </material>
-      </visual>
-      <visual name="cp_flap_right">
-        <pose>-0.7 0.20 0 0 0 0</pose>
-        <geometry>
-          <sphere>
-            <radius>0.03</radius>
-          </sphere>
-        </geometry>
-        <material>
-          <ambient>0 1 0</ambient>
-          <diffuse>0 1 0</diffuse>
-          <specular>0.1 0.1 0.1 1</specular>
-        </material>
-      </visual>
-      <!--
-      <visual name="LDleft_wing">
-        <pose>0.7 0.20 0.0 0 0 0</pose>
-        <geometry>
-          <sphere>
-            <radius>0.03</radius>
-          </sphere>
-        </geometry>
-      </visual>
-      <visual name="LDright_wing">
-        <pose>-0.7 0.20 0.0 0 0 0</pose>
-        <geometry>
-          <sphere>
-            <radius>0.03</radius>
-          </sphere>
-        </geometry>
-      </visual>
-      <visual name="LD3">
-        <pose>0.76 0.30 0.025 0 0 0</pose>
-        <geometry>
-          <sphere>
-            <radius>0.03</radius>
-          </sphere>
-        </geometry>
-      </visual>
-      <visual name="LD4">
-        <pose>-0.76 0.30 0.025 0 0 0</pose>
-        <geometry>
-          <sphere>
-            <radius>0.03</radius>
-          </sphere>
-        </geometry>
-      </visual>
-      -->
-      <!-- Disable GPS sensor
-        <sensor name="gps_sensor" type="gps">
-        <pose>0 0 0  0 0 0</pose>
-        <update_rate>10.0</update_rate>
-        <always_on>true</always_on>
-        <gps>
-          <position_sensing>
-            <horizontal>
-              <noise type="gaussian_quantized">
-                <mean>0</mean>
-                <stddev>1</stddev>
-                <bias_mean>3</bias_mean>
-                <bias_stddev>1</bias_stddev>
-                <precision>0.5</precision>
-              </noise>
-            </horizontal>
-            <vertical>
-              <noise type="gaussian_quantized">
-                <mean>0</mean>
-                <stddev>1</stddev>
-                <bias_mean>3</bias_mean>
-                <bias_stddev>1</bias_stddev>
-                <precision>1.0</precision>
-              </noise>
-            </vertical>
-          </position_sensing>
-          <velocity_sensing>
-            <horizontal>
-              <noise type="gaussian_quantized">
-                <mean>0</mean>
-                <stddev>0.1</stddev>
-                <bias_mean>0.1</bias_mean>
-                <bias_stddev>0.1</bias_stddev>
-                <precision>0.1</precision>
-              </noise>
-            </horizontal>
-            <vertical>
-              <noise type="gaussian_quantized">
-                <mean>0</mean>
-                <stddev>0.2</stddev>
-                <bias_mean>0.2</bias_mean>
-                <bias_stddev>0.2</bias_stddev>
-                <precision>0.2</precision>
-              </noise>
-            </vertical>
-          </velocity_sensing>
-        </gps>
-      </sensor> -->
-    </link>
-    <link name="propeller">
-      <!--<pose>0 0.1174 -0.007 0 1.5707 0</pose>-->
-      <pose>0 0.07 0.008 0 1.5707 0</pose>
-      <inertial>
-        <mass>.05</mass>
-        <inertia>
-          <ixx>0.000367571</ixx>
-          <ixy>0</ixy>
-          <iyy>0.00036985</iyy>
-          <ixz>0</ixz>
-          <iyz>0</iyz>
-          <izz>0.000003187</izz>
-        </inertia>
-      </inertial>
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>model://zephyr_with_ardupilot/meshes/wing.dae</uri>
-            <submesh>
-              <name>Propeller</name>
-              <center>true</center>
-            </submesh>
-          </mesh>
-        </geometry>
-      </visual>
-      <collision name="blade1">
-        <pose>0 0 0.074205 0 0  0.3</pose>
-        <geometry>
-          <box>
-            <size>0.02561 0.00541 0.14841</size>
-          </box>
-        </geometry>
-      </collision>
-      <collision name="blade2">
-        <pose>0 0 -0.074205 0 0  -0.3</pose>
-        <geometry>
-          <box>
-            <size>0.02561 0.00541 0.14841</size>
-          </box>
-        </geometry>
-      </collision>
-      <!-- save for debugging use
-      <visual name="LD1">
-        <pose>0 0 0.074205 0 0  0.3</pose>
-        <geometry>
-         <sphere>
-            <radius>0.02</radius>
-          </sphere>
-        </geometry>
-      </visual>
-      <visual name="LD2">
-        <pose>0 0 -0.074205 0 0  -0.3</pose>
-        <geometry>
-          <sphere>
-            <radius>0.02</radius>
-          </sphere>
-        </geometry>
-      </visual>
-      -->
-    </link>
-    <link name="flap_left">
-      <pose>0.4530 .239 0.007 0 0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 0 0.32445671</pose>
-        <mass>.1</mass>
-        <inertia>
-          <ixx>0.000102319</ixx>
-          <ixy>0</ixy>
-          <iyy>0.00334417</iyy>
-          <ixz>0</ixz>
-          <iyz>0</iyz>
-          <izz>0.003446072</izz>
-        </inertia>
-      </inertial>
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>model://zephyr_with_ardupilot/meshes/wing.dae</uri>
-            <submesh>
-              <name>Flap_Left</name>
-              <center>true</center>
-            </submesh>
-          </mesh>
-        </geometry>
-      </visual>
-      <collision name="collision">
-        <pose>-0.01 0.01 0 0 0 0.32445671</pose>
-        <geometry>
-          <box>
-            <size>0.633463031 0.110694312 0.005</size>
-          </box>
-        </geometry>
-      </collision>
-    </link>
-    <link name="flap_right">
-      <pose>-0.4530 .239 0.007 0 0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 0 -0.32445671</pose>
-        <mass>.1</mass>
-        <inertia>
-          <ixx>0.000102319</ixx>
-          <ixy>0</ixy>
-          <iyy>0.00334417</iyy>
-          <ixz>0</ixz>
-          <iyz>0</iyz>
-          <izz>0.003446072</izz>
-        </inertia>
-      </inertial>
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>model://zephyr_with_ardupilot/meshes/wing.dae</uri>
-            <submesh>
-              <name>Flap_Right</name>
-              <center>true</center>
-            </submesh>
-          </mesh>
-        </geometry>
-      </visual>
-      <collision name="collision">
-        <pose>0.01 0.01 0 0 0 -0.32445671</pose>
-        <geometry>
-          <box>
-            <size>0.633463031 0.110694312 0.005</size>
-          </box>
-        </geometry>
-      </collision>
-    </link>
-    <joint name="propeller_joint" type="revolute">
-      <parent>wing</parent>
-      <child>propeller</child>
-      <axis>
-        <xyz>0 -1 0</xyz>
-        <dynamics>
-          <damping>0.002</damping>
-        </dynamics>
-      </axis>
-    </joint>
-    <joint name="flap_left_joint" type="revolute">
-      <parent>wing</parent>
-      <child>flap_left</child>
-      <pose>0 -0.04 0 0 0 0</pose>
-      <axis>
-        <xyz>1 0.330321014 0</xyz>
-        <limit>
-          <lower>-0.524</lower>
-          <upper>0.524</upper>
-        </limit>
-        <dynamics>
-          <damping>0.1</damping>
-        </dynamics>
-      </axis>
-    </joint>
-    <joint name="flap_right_joint" type="revolute">
-      <parent>wing</parent>
-      <child>flap_right</child>
-      <pose>0 -0.04 0 0 0 0</pose>
-      <axis>
-        <xyz>1 -0.330321014 0</xyz>
-        <limit>
-          <lower>-0.524</lower>
-          <upper>0.524</upper>
-        </limit>
-        <dynamics>
-          <damping>0.1</damping>
-        </dynamics>
-      </axis>
-    </joint>
-
-    <!-- sensors -->
-    <link name='imu_link'>
-      <inertial>
-        <pose>0 0 0 0 0 0</pose>
-        <mass>0.15</mass>
-        <inertia>
-          <ixx>0.00002</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.00002</iyy>
-          <iyz>0</iyz>
-          <izz>0.00002</izz>
-        </inertia>
-      </inertial>
-      <sensor name="imu_sensor" type="imu">
-        <pose>0 0 0 3.141593 0 -1.5707963</pose>
-        <always_on>1</always_on>
-        <update_rate>1000.0</update_rate>
-      </sensor>
-    </link>
-    <joint name='zephyr/imu_joint' type='revolute'>
-      <child>imu_link</child>
-      <parent>wing</parent>
-      <axis>
-        <xyz>0 0 1</xyz>
-        <limit>
-          <lower>0</lower>
-          <upper>0</upper>
-          <effort>0</effort>
-          <velocity>0</velocity>
-        </limit>
-        <dynamics>
-          <damping>1.0</damping>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-    </joint>
+    <include>
+      <uri>model://zephyr</uri>
+    </include>
 
     <!-- plugins -->
     <plugin filename="gz-sim-joint-state-publisher-system"
@@ -403,7 +25,7 @@
       <air_density>1.2041</air_density>
       <forward>0 -1 0</forward>
       <upward>0 0 1</upward>
-      <link_name>wing</link_name>
+      <link_name>zephyr::wing</link_name>
     </plugin>
     <!-- left_wing -->
     <plugin filename="gz-sim-lift-drag-system"
@@ -421,8 +43,8 @@
       <air_density>1.2041</air_density>
       <forward>0 -1 0</forward>
       <upward>0 0 1</upward>
-      <link_name>wing</link_name>
-      <control_joint_name>flap_left_joint</control_joint_name>
+      <link_name>zephyr::wing</link_name>
+      <control_joint_name>zephyr::flap_left_joint</control_joint_name>
       <control_joint_rad_to_cl>-5.0</control_joint_rad_to_cl>
     </plugin>
     <!-- right_wing -->
@@ -441,8 +63,8 @@
       <air_density>1.2041</air_density>
       <forward>0 -1 0</forward>
       <upward>0 0 1</upward>
-      <link_name>wing</link_name>
-      <control_joint_name>flap_right_joint</control_joint_name>
+      <link_name>zephyr::wing</link_name>
+      <control_joint_name>zephyr::flap_right_joint</control_joint_name>
       <control_joint_rad_to_cl>-5.0</control_joint_rad_to_cl>
     </plugin>
     <!-- left_rudder -->
@@ -461,7 +83,7 @@
       <air_density>1.2041</air_density>
       <forward>0 -1 0</forward>
       <upward>1 0 0</upward>
-      <link_name>wing</link_name>
+      <link_name>zephyr::wing</link_name>
     </plugin>
     <!-- right_rudder -->
     <plugin filename="gz-sim-lift-drag-system"
@@ -479,7 +101,7 @@
       <air_density>1.2041</air_density>
       <forward>0 -1 0</forward>
       <upward>1 0 0</upward>
-      <link_name>wing</link_name>
+      <link_name>zephyr::wing</link_name>
     </plugin>
     <!-- propeller_blade_1 -->
     <plugin filename="gz-sim-lift-drag-system"
@@ -497,7 +119,7 @@
       <cp>0 0 0.074205</cp>
       <forward>-1 0 0</forward>
       <upward>0 -1 0</upward>
-      <link_name>propeller</link_name>
+      <link_name>zephyr::propeller</link_name>
     </plugin>
     <!-- propeller_blade_2 -->
     <plugin filename="gz-sim-lift-drag-system"
@@ -515,20 +137,20 @@
       <cp>0 0 -0.074205</cp>
       <forward>1 0 0</forward>
       <upward>0 -1 0</upward>
-      <link_name>propeller</link_name>
+      <link_name>zephyr::propeller</link_name>
     </plugin>
 
     <plugin filename="gz-sim-apply-joint-force-system"
       name="gz::sim::systems::ApplyJointForce">
-      <joint_name>propeller_joint</joint_name>
+      <joint_name>zephyr::propeller_joint</joint_name>
     </plugin>
     <plugin filename="gz-sim-apply-joint-force-system"
       name="gz::sim::systems::ApplyJointForce">
-      <joint_name>flap_left_joint</joint_name>
+      <joint_name>zephyr::flap_left_joint</joint_name>
     </plugin>
     <plugin filename="gz-sim-apply-joint-force-system"
       name="gz::sim::systems::ApplyJointForce">
-      <joint_name>flap_right_joint</joint_name>
+      <joint_name>zephyr::flap_right_joint</joint_name>
     </plugin>
 
     <plugin name="ArduPilotPlugin" filename="libArduPilotPlugin">
@@ -552,7 +174,7 @@
       <gazeboXYZToNED>0 0 0 3.141593 0 0</gazeboXYZToNED>
 
       <!-- Sensors -->
-      <imuName>imu_sensor</imuName>
+      <imuName>zephyr::imu_link::imu_sensor</imuName>
 
       <!--
           incoming control command [0, 1]
@@ -570,7 +192,7 @@
           SERVO3_TRIM       1100
        -->
       <control channel="2">
-        <jointName>propeller_joint</jointName>
+        <jointName>zephyr::propeller_joint</jointName>
         <useForce>1</useForce>
         <multiplier>838</multiplier>
         <offset>0</offset>
@@ -600,7 +222,7 @@
           scale: 0.524  =>  [-0.524, 0.524]
        -->
       <control channel="0">
-        <jointName>flap_left_joint</jointName>
+        <jointName>zephyr::flap_left_joint</jointName>
         <useForce>1</useForce>
         <multiplier>-1.048</multiplier>
         <offset>-0.5</offset>
@@ -624,7 +246,7 @@
           SERVO2_TRIM       1500
        -->
       <control channel="1">
-        <jointName>flap_right_joint</jointName>
+        <jointName>zephyr::flap_right_joint</jointName>
         <useForce>1</useForce>
         <multiplier>-1.048</multiplier>
         <offset>-0.5</offset>
diff --git a/worlds/iris_arducopter_cmac.world b/worlds/iris_arducopter_cmac.world
deleted file mode 100755
index 621a2b2..0000000
--- a/worlds/iris_arducopter_cmac.world
+++ /dev/null
@@ -1,51 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.6">
-  <world name="default">
-    <gui>
-      <camera name="user_camera">
-        <pose>-5 0 1 0 0.2 0</pose>
-      </camera>
-    </gui>
-    <physics type="ode">
-      <ode>
-        <solver>
-          <type>quick</type>
-          <iters>100</iters>
-          <sor>1.0</sor>
-        </solver>
-        <constraints>
-          <cfm>0.0</cfm>
-          <erp>0.2</erp>
-          <contact_max_correcting_vel>0.1</contact_max_correcting_vel>
-          <contact_surface_layer>0.0</contact_surface_layer>
-        </constraints>
-      </ode>
-      <real_time_update_rate>-1</real_time_update_rate>
-      <!--<max_step_size>0.0020</max_step_size>-->
-    </physics>
-    <gravity>0 0 -9.8</gravity>
-    <include>
-      <uri>model://sun</uri>
-    </include>
-
-    <include>
-      <uri>model://ground_plane</uri>
-    </include>
-
-
-    <plugin name="map" filename="libStaticMapPlugin">
-      <center>-35.363261 149.165230</center>
-      <world_size>300</world_size>
-      <map_type>satellite</map_type>
-      <api_key>YOU_API_KEY</api_key>
-      <use_cache>true</use_cache>
-      <pose>0 0 0.2 0 0 -1.5708</pose>
-    </plugin>
-
-    <model name="iris_demo">
-      <include>
-        <uri>model://iris_with_ardupilot</uri>
-      </include>
-    </model>
-  </world>
-</sdf>
diff --git a/worlds/iris_arducopter_edifice_demo.world b/worlds/iris_arducopter_edifice_demo.world
deleted file mode 100644
index 0495bf6..0000000
--- a/worlds/iris_arducopter_edifice_demo.world
+++ /dev/null
@@ -1,459 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.6">
-<world name="Edifice">
-    <scene>
-        <grid>false</grid>
-    </scene>
-    <physics name="1ms" type="ored">
-        <max_step_size>0.002</max_step_size>
-        <real_time_factor>1.0</real_time_factor>
-    </physics>
-    <plugin
-        filename="gz-sim-physics-system"
-        name="gz::sim::systems::Physics">
-    </plugin>
-    <plugin
-        filename="gz-sim-sensors-system"
-        name="gz::sim::systems::Sensors">
-        <render_engine>ogre2</render_engine>
-    </plugin>
-    <plugin
-        filename="gz-sim-user-commands-system"
-        name="gz::sim::systems::UserCommands">
-    </plugin>
-    <plugin
-        filename="gz-sim-scene-broadcaster-system"
-        name="gz::sim::systems::SceneBroadcaster">
-    </plugin>
-    <plugin
-        filename="gz-sim-imu-system"
-        name="gz::sim::systems::Imu">
-    </plugin>
-
-    <gui fullscreen='0'>
-        <!-- GUI plugins -->
-
-        <!-- 3D scene -->
-        <plugin filename="MinimalScene" name="3D View">
-            <gz-gui>
-                <title>3D View</title>
-                <property type="bool" key="showTitleBar">false</property>
-                <property type="string" key="state">docked</property>
-            </gz-gui>
-
-            <engine>ogre2</engine>
-            <scene>scene</scene>
-            <ambient_light>0.4 0.4 0.4</ambient_light>
-            <background_color>0.8 0.8 0.8</background_color>
-            <camera_pose>6 0 6 0 0.5 3.14</camera_pose>
-        </plugin>
-
-        <!-- Play / pause / step -->
-        <plugin filename="WorldControl" name="World control">
-            <gz-gui>
-                <title>World control</title>
-                <property type="bool" key="showTitleBar">false</property>
-                <property type="bool" key="resizable">false</property>
-                <property type="double" key="height">72</property>
-                <property type="double" key="width">121</property>
-                <property type="double" key="z">1</property>
-
-                <property type="string" key="state">floating</property>
-                <anchors target="3D View">
-                    <line own="left" target="left"/>
-                    <line own="bottom" target="bottom"/>
-                </anchors>
-            </gz-gui>
-
-            <play_pause>true</play_pause>
-            <step>true</step>
-            <start_paused>true</start_paused>
-
-        </plugin>
-
-
-        <!-- Plugins that add functionality to the scene -->
-        <plugin filename="EntityContextMenuPlugin" name="Entity context menu">
-          <gz-gui>
-            <property key="state" type="string">floating</property>
-            <property key="width" type="double">5</property>
-            <property key="height" type="double">5</property>
-            <property key="showTitleBar" type="bool">false</property>
-          </gz-gui>
-        </plugin>
-        <plugin filename="GzSceneManager" name="Scene Manager">
-          <gz-gui>
-            <property key="resizable" type="bool">false</property>
-            <property key="width" type="double">5</property>
-            <property key="height" type="double">5</property>
-            <property key="state" type="string">floating</property>
-            <property key="showTitleBar" type="bool">false</property>
-          </gz-gui>
-        </plugin>
-        <plugin filename="InteractiveViewControl" name="Interactive view control">
-          <gz-gui>
-            <property key="resizable" type="bool">false</property>
-            <property key="width" type="double">5</property>
-            <property key="height" type="double">5</property>
-            <property key="state" type="string">floating</property>
-            <property key="showTitleBar" type="bool">false</property>
-          </gz-gui>
-        </plugin>
-        <plugin filename="CameraTracking" name="Camera Tracking">
-          <gz-gui>
-            <property key="resizable" type="bool">false</property>
-            <property key="width" type="double">5</property>
-            <property key="height" type="double">5</property>
-            <property key="state" type="string">floating</property>
-            <property key="showTitleBar" type="bool">false</property>
-          </gz-gui>
-        </plugin>
-        <plugin filename="MarkerManager" name="Marker manager">
-          <gz-gui>
-            <property key="resizable" type="bool">false</property>
-            <property key="width" type="double">5</property>
-            <property key="height" type="double">5</property>
-            <property key="state" type="string">floating</property>
-            <property key="showTitleBar" type="bool">false</property>
-          </gz-gui>
-        </plugin>
-        <plugin filename="SelectEntities" name="Select Entities">
-          <gz-gui>
-            <anchors target="Select entities">
-              <line own="right" target="right"/>
-              <line own="top" target="top"/>
-            </anchors>
-            <property key="resizable" type="bool">false</property>
-            <property key="width" type="double">5</property>
-            <property key="height" type="double">5</property>
-            <property key="state" type="string">floating</property>
-            <property key="showTitleBar" type="bool">false</property>
-          </gz-gui>
-        </plugin>
-        <plugin filename="VisualizationCapabilities" name="Visualization Capabilities">
-          <gz-gui>
-            <property key="resizable" type="bool">false</property>
-            <property key="width" type="double">5</property>
-            <property key="height" type="double">5</property>
-            <property key="state" type="string">floating</property>
-            <property key="showTitleBar" type="bool">false</property>
-          </gz-gui>
-        </plugin>
-
-        <plugin filename="Spawn" name="Spawn Entities">
-          <gz-gui>
-            <anchors target="Select entities">
-              <line own="right" target="right"/>
-              <line own="top" target="top"/>
-            </anchors>
-            <property key="resizable" type="bool">false</property>
-            <property key="width" type="double">5</property>
-            <property key="height" type="double">5</property>
-            <property key="state" type="string">floating</property>
-            <property key="showTitleBar" type="bool">false</property>
-          </gz-gui>
-        </plugin>
-
-        <!-- Time / RTF -->
-        <plugin filename="WorldStats" name="World stats">
-            <gz-gui>
-                <title>World stats</title>
-                <property type="bool" key="showTitleBar">false</property>
-                <property type="bool" key="resizable">false</property>
-                <property type="double" key="height">110</property>
-                <property type="double" key="width">290</property>
-                <property type="double" key="z">1</property>
-
-                <property type="string" key="state">floating</property>
-                <anchors target="3D View">
-                    <line own="right" target="right"/>
-                    <line own="bottom" target="bottom"/>
-                </anchors>
-            </gz-gui>
-
-            <sim_time>true</sim_time>
-            <real_time>true</real_time>
-            <real_time_factor>true</real_time_factor>
-            <iterations>true</iterations>
-
-        </plugin>
-
-        <!-- Insert simple shapes -->
-        <plugin filename="Shapes" name="Shapes">
-            <gz-gui>
-                <property key="resizable" type="bool">false</property>
-                <property key="x" type="double">0</property>
-                <property key="y" type="double">0</property>
-                <property key="width" type="double">250</property>
-                <property key="height" type="double">50</property>
-                <property key="state" type="string">floating</property>
-                <property key="showTitleBar" type="bool">false</property>
-                <property key="cardBackground" type="string">#666666</property>
-            </gz-gui>
-        </plugin>
-
-        <!-- Insert lights -->
-        <plugin filename="Lights" name="Lights">
-            <gz-gui>
-                <property key="resizable" type="bool">false</property>
-                <property key="x" type="double">250</property>
-                <property key="y" type="double">0</property>
-                <property key="width" type="double">150</property>
-                <property key="height" type="double">50</property>
-                <property key="state" type="string">floating</property>
-                <property key="showTitleBar" type="bool">false</property>
-                <property key="cardBackground" type="string">#666666</property>
-            </gz-gui>
-        </plugin>
-
-        <!-- Translate / rotate -->
-        <!--
-        <plugin filename="TransformControl" name="Transform control">
-            <gz-gui>
-                <property key="resizable" type="bool">false</property>
-                <property key="x" type="double">0</property>
-                <property key="y" type="double">50</property>
-                <property key="width" type="double">250</property>
-                <property key="height" type="double">50</property>
-                <property key="state" type="string">floating</property>
-                <property key="showTitleBar" type="bool">false</property>
-                <property key="cardBackground" type="string">#777777</property>
-            </gz-gui>
-        </plugin>
-        -->
-
-        <!-- Screenshot -->
-        <plugin filename="Screenshot" name="Screenshot">
-            <gz-gui>
-                <property key="resizable" type="bool">false</property>
-                <property key="x" type="double">250</property>
-                <property key="y" type="double">50</property>
-                <property key="width" type="double">50</property>
-                <property key="height" type="double">50</property>
-                <property key="state" type="string">floating</property>
-                <property key="showTitleBar" type="bool">false</property>
-                <property key="cardBackground" type="string">#777777</property>
-            </gz-gui>
-        </plugin>
-
-        <!-- Inspector -->
-        <plugin filename="ComponentInspector" name="Component inspector">
-            <gz-gui>
-                <property type="bool" key="showTitleBar">false</property>
-                <property type="string" key="state">docked</property>
-            </gz-gui>
-        </plugin>
-
-        <!-- Entity tree -->
-        <plugin filename="EntityTree" name="Entity tree">
-            <gz-gui>
-                <property type="bool" key="showTitleBar">false</property>
-                <property type="string" key="state">docked</property>
-            </gz-gui>
-        </plugin>
-
-        <!-- Image / Camera display -->
-        <plugin filename="ImageDisplay" name="ImageDisplay">
-                <gz-gui>
-                <property type="string" key="state">docked_collapsed</property>
-                </gz-gui>
-        </plugin>
-
-        <!-- Joint controller for Panda robot -->
-        <plugin filename="JointPositionController" name="JointPositionController">
-            <gz-gui>
-                <property type="string" key="state">docked_collapsed</property>
-            </gz-gui>
-            <model_name>Panda</model_name>
-        </plugin>
-
-        <!-- Keyboard -->
-        <plugin filename="KeyPublisher" name="Key publisher">
-            <gz-gui>
-                <anchors target="3D View">
-                    <line own="right" target="right"/>
-                    <line own="top" target="top"/>
-                </anchors>
-                <property key="resizable" type="bool">false</property>
-                <property key="width" type="double">5</property>
-                <property key="height" type="double">5</property>
-                <property key="state" type="string">floating</property>
-                <property key="showTitleBar" type="bool">false</property>
-            </gz-gui>
-        </plugin>
-
-    </gui>
-
-    <include>
-        <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Depot</uri>
-    </include>
-
-    <include>
-        <pose>-6 0 0.25 0 0 0</pose>
-        <uri>model://iris_with_standoffs</uri>
-    </include>
-
-    <include>
-        <pose>-9.4 1.6 0 0 0 -0.5</pose>
-        <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Mecanum lift</uri>
-    </include>
-
-    <include>
-        <pose>-13.2 -6.0 0.15 0 0 0</pose>
-        <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/fog emitter</uri>
-    </include>
-
-    <include>
-        <pose>-9.0 -1.8 1.038 0 0 0</pose>
-        <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Panda with Ignition position controller model</uri>
-    </include>
-
-    <include>
-        <pose>-9.0 -2.4 0 0 0 1.57</pose>
-        <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Reflective table</uri>
-    </include>
-
-    <include>
-        <pose>-13.2 -6.0 0 0 0 1.57</pose>
-        <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Rescue Randy Sitting</uri>
-    </include>
-
-    <include>
-        <pose>-9.0 -6.21 5.0 0 0.9 -3.14</pose>
-        <static>true</static>
-        <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/16-Bit Thermal Camera</uri>
-    </include>
-
-    <include>
-        <pose>-9.0 -5.95 5.0 0 0.9 -3.14</pose>
-        <static>true</static>
-        <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/8-Bit Thermal Camera</uri>
-    </include>
-
-    <include>
-        <pose>-9.075 -6.15 4.995 0 0.9 -3.14</pose>
-        <static>true</static>
-        <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Camera</uri>
-    </include>
-
-    <include>
-        <pose>-9.04 -6.04 4.97 0 0.9 -3.14</pose>
-        <static>true</static>
-        <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Depth Camera</uri>
-    </include>
-
-    <!-- uniform temperature object for comparison against rescue randy's heat signature -->
-    <model name="uniform_temp_box">
-        <pose>-13.2 -5.3 0.2 0 0 0</pose>
-        <link name="box_link">
-            <inertial>
-                <inertia>
-                    <ixx>1</ixx>
-                    <ixy>0</ixy>
-                    <ixz>0</ixz>
-                    <iyy>1</iyy>
-                    <iyz>0</iyz>
-                    <izz>1</izz>
-                </inertia>
-                <mass>1.0</mass>
-            </inertial>
-            <collision name="box_collision">
-                <geometry>
-                    <box>
-                        <size>0.4 0.4 0.4</size>
-                    </box>
-                </geometry>
-            </collision>
-
-            <visual name="box_visual">
-                <geometry>
-                    <box>
-                        <size>0.4 0.4 0.4</size>
-                    </box>
-                </geometry>
-                <material>
-                    <ambient>1 0 0 1</ambient>
-                    <diffuse>1 0 0 1</diffuse>
-                    <specular>1 0 0 1</specular>
-                </material>
-                <plugin filename="gz-gazebo-thermal-system" name="gz::sim::systems::Thermal">
-                    <temperature>295.0</temperature>
-                </plugin>
-            </visual>
-        </link>
-    </model>
-
-    <!-- Mecanum drive teleop -->
-
-    <!-- Moving Forward: w -->
-    <plugin filename="gz-sim-triggered-publisher-system" name="gz::sim::systems::TriggeredPublisher">
-        <input type="gz.msgs.Int32" topic="/keyboard/keypress">
-            <match field="data">87</match>
-        </input>
-        <output type="gz.msgs.Twist" topic="/model/Mecanum_lift/cmd_vel">
-                linear: {x: 1.0, y: 0.0}, angular: {z: 0.0}
-        </output>
-    </plugin>
-
-    <!-- Moving Backward: x -->
-    <plugin filename="gz-sim-triggered-publisher-system" name="gz::sim::systems::TriggeredPublisher">
-        <input type="gz.msgs.Int32" topic="/keyboard/keypress">
-            <match field="data">88</match>
-        </input>
-        <output type="gz.msgs.Twist" topic="/model/Mecanum_lift/cmd_vel">
-                linear: {x: -1.0, y: 0.0}, angular: {z: 0.0}
-        </output>
-    </plugin>
-
-    <!-- Moving right: d -->
-    <plugin filename="gz-sim-triggered-publisher-system" name="gz::sim::systems::TriggeredPublisher">
-        <input type="gz.msgs.Int32" topic="/keyboard/keypress">
-            <match field="data">68</match>
-        </input>
-        <output type="gz.msgs.Twist" topic="/model/Mecanum_lift/cmd_vel">
-                linear: {x: 0.0, y: -1.0}, angular: {z: 0.0}
-        </output>
-    </plugin>
-
-    <!--Moving left: a -->
-    <plugin filename="gz-sim-triggered-publisher-system" name="gz::sim::systems::TriggeredPublisher">
-        <input type="gz.msgs.Int32" topic="/keyboard/keypress">
-            <match field="data">65</match>
-        </input>
-        <output type="gz.msgs.Twist" topic="/model/Mecanum_lift/cmd_vel">
-                linear: {x: 0.0, y: 1.0}, angular: {z: 0.0}
-        </output>
-    </plugin>
-
-    <!-- Rotating right: e -->
-    <plugin filename="gz-sim-triggered-publisher-system" name="gz::sim::systems::TriggeredPublisher">
-        <input type="gz.msgs.Int32" topic="/keyboard/keypress">
-            <match field="data">69</match>
-        </input>
-        <output type="gz.msgs.Twist" topic="/model/Mecanum_lift/cmd_vel">
-                linear: {x: 0.0, y: 0.0}, angular: {z: -1.0}
-        </output>
-    </plugin>
-
-    <!--Rotating left: q -->
-    <plugin filename="gz-sim-triggered-publisher-system" name="gz::sim::systems::TriggeredPublisher">
-        <input type="gz.msgs.Int32" topic="/keyboard/keypress">
-            <match field="data">81</match>
-        </input>
-        <output type="gz.msgs.Twist" topic="/model/Mecanum_lift/cmd_vel">
-                linear: {x: 0.0, y: 0.0}, angular: {z: 1.0}
-        </output>
-    </plugin>
-
-    <!--Stop: s -->
-    <plugin filename="gz-sim-triggered-publisher-system" name="gz::sim::systems::TriggeredPublisher">
-        <input type="gz.msgs.Int32" topic="/keyboard/keypress">
-            <match field="data">83</match>
-        </input>
-        <output type="gz.msgs.Twist" topic="/model/Mecanum_lift/cmd_vel">
-                linear: {x: 0.0, y: 0.0}, angular: {z: 0.0}
-        </output>
-    </plugin>
-
-</world>
-</sdf>
diff --git a/worlds/iris_arducopter_runway.world b/worlds/iris_runway.sdf
similarity index 86%
rename from worlds/iris_arducopter_runway.world
rename to worlds/iris_runway.sdf
index b621fd0..56c60f1 100755
--- a/worlds/iris_arducopter_runway.world
+++ b/worlds/iris_runway.sdf
@@ -1,6 +1,11 @@
 <?xml version="1.0" ?>
 <sdf version="1.7">
-  <world name="iris_arducopter_runway">
+  <world name="iris_runway">
+    <physics name="1ms" type="ignore">
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
+    </physics>
+
     <plugin filename="gz-sim-physics-system"
       name="gz::sim::systems::Physics">
     </plugin>
diff --git a/worlds/iris_warehouse.sdf b/worlds/iris_warehouse.sdf
new file mode 100644
index 0000000..d59e925
--- /dev/null
+++ b/worlds/iris_warehouse.sdf
@@ -0,0 +1,435 @@
+<?xml version="1.0" ?>
+<sdf version="1.7">
+  <world name="iris_warehouse">
+    <physics name="1ms" type="ignore">
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
+    </physics>
+
+    <plugin
+      filename="gz-sim-physics-system"
+      name="gz::sim::systems::Physics">
+    </plugin>
+    <plugin
+      filename="gz-sim-sensors-system"
+      name="gz::sim::systems::Sensors">
+      <render_engine>ogre2</render_engine>
+    </plugin>
+    <plugin
+      filename="gz-sim-user-commands-system"
+      name="gz::sim::systems::UserCommands">
+    </plugin>
+    <plugin
+      filename="gz-sim-scene-broadcaster-system"
+      name="gz::sim::systems::SceneBroadcaster">
+    </plugin>
+    <plugin
+      filename="gz-sim-imu-system"
+      name="gz::sim::systems::Imu">
+    </plugin>
+
+    <scene>
+      <grid>false</grid>
+    </scene>
+
+    <gui fullscreen='0'>
+      <plugin filename="MinimalScene" name="3D View">
+        <gz-gui>
+          <title>3D View</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="string" key="state">docked</property>
+        </gz-gui>
+        <engine>ogre2</engine>
+        <scene>scene</scene>
+        <ambient_light>0.4 0.4 0.4</ambient_light>
+        <background_color>0.8 0.8 0.8</background_color>
+        <camera_pose>6 0 6 0 0.5 3.14</camera_pose>
+      </plugin>
+      <plugin filename="WorldControl" name="World control">
+        <gz-gui>
+          <title>World control</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="bool" key="resizable">false</property>
+          <property type="double" key="height">72</property>
+          <property type="double" key="width">145</property>
+          <property type="double" key="z">1</property>
+          <property type="string" key="state">floating</property>
+          <anchors target="3D View">
+            <line own="left" target="left"/>
+            <line own="bottom" target="bottom"/>
+          </anchors>
+        </gz-gui>
+        <play_pause>true</play_pause>
+        <step>true</step>
+        <start_paused>true</start_paused>
+      </plugin>
+      <plugin filename="EntityContextMenuPlugin" name="Entity context menu">
+        <gz-gui>
+          <property key="state" type="string">floating</property>
+          <property key="width" type="double">5</property>
+          <property key="height" type="double">5</property>
+          <property key="showTitleBar" type="bool">false</property>
+        </gz-gui>
+      </plugin>
+      <plugin filename="GzSceneManager" name="Scene Manager">
+        <gz-gui>
+          <property key="resizable" type="bool">false</property>
+          <property key="width" type="double">5</property>
+          <property key="height" type="double">5</property>
+          <property key="state" type="string">floating</property>
+          <property key="showTitleBar" type="bool">false</property>
+        </gz-gui>
+      </plugin>
+      <plugin filename="InteractiveViewControl" name="Interactive view control">
+        <gz-gui>
+          <property key="resizable" type="bool">false</property>
+          <property key="width" type="double">5</property>
+          <property key="height" type="double">5</property>
+          <property key="state" type="string">floating</property>
+          <property key="showTitleBar" type="bool">false</property>
+        </gz-gui>
+      </plugin>
+      <plugin filename="CameraTracking" name="Camera Tracking">
+        <gz-gui>
+          <property key="resizable" type="bool">false</property>
+          <property key="width" type="double">5</property>
+          <property key="height" type="double">5</property>
+          <property key="state" type="string">floating</property>
+          <property key="showTitleBar" type="bool">false</property>
+        </gz-gui>
+      </plugin>
+      <plugin filename="MarkerManager" name="Marker manager">
+        <gz-gui>
+          <property key="resizable" type="bool">false</property>
+          <property key="width" type="double">5</property>
+          <property key="height" type="double">5</property>
+          <property key="state" type="string">floating</property>
+          <property key="showTitleBar" type="bool">false</property>
+        </gz-gui>
+      </plugin>
+      <plugin filename="SelectEntities" name="Select Entities">
+        <gz-gui>
+          <anchors target="Select entities">
+            <line own="right" target="right"/>
+            <line own="top" target="top"/>
+          </anchors>
+          <property key="resizable" type="bool">false</property>
+          <property key="width" type="double">5</property>
+          <property key="height" type="double">5</property>
+          <property key="state" type="string">floating</property>
+          <property key="showTitleBar" type="bool">false</property>
+        </gz-gui>
+      </plugin>
+      <plugin filename="VisualizationCapabilities" name="Visualization Capabilities">
+        <gz-gui>
+          <property key="resizable" type="bool">false</property>
+          <property key="width" type="double">5</property>
+          <property key="height" type="double">5</property>
+          <property key="state" type="string">floating</property>
+          <property key="showTitleBar" type="bool">false</property>
+        </gz-gui>
+      </plugin>
+      <plugin filename="Spawn" name="Spawn Entities">
+        <gz-gui>
+          <anchors target="Select entities">
+            <line own="right" target="right"/>
+            <line own="top" target="top"/>
+          </anchors>
+          <property key="resizable" type="bool">false</property>
+          <property key="width" type="double">5</property>
+          <property key="height" type="double">5</property>
+          <property key="state" type="string">floating</property>
+          <property key="showTitleBar" type="bool">false</property>
+        </gz-gui>
+      </plugin>
+      <plugin filename="WorldStats" name="World stats">
+        <gz-gui>
+          <title>World stats</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="bool" key="resizable">false</property>
+          <property type="double" key="height">110</property>
+          <property type="double" key="width">290</property>
+          <property type="double" key="z">1</property>
+          <property type="string" key="state">floating</property>
+          <anchors target="3D View">
+            <line own="right" target="right"/>
+            <line own="bottom" target="bottom"/>
+          </anchors>
+        </gz-gui>
+        <sim_time>true</sim_time>
+        <real_time>true</real_time>
+        <real_time_factor>true</real_time_factor>
+        <iterations>true</iterations>
+      </plugin>
+      <plugin filename="Shapes" name="Shapes">
+        <gz-gui>
+          <property key="resizable" type="bool">false</property>
+          <property key="x" type="double">0</property>
+          <property key="y" type="double">0</property>
+          <property key="width" type="double">250</property>
+          <property key="height" type="double">50</property>
+          <property key="state" type="string">floating</property>
+          <property key="showTitleBar" type="bool">false</property>
+          <property key="cardBackground" type="string">#666666</property>
+        </gz-gui>
+      </plugin>
+      <plugin filename="Lights" name="Lights">
+        <gz-gui>
+          <property key="resizable" type="bool">false</property>
+          <property key="x" type="double">250</property>
+          <property key="y" type="double">0</property>
+          <property key="width" type="double">150</property>
+          <property key="height" type="double">50</property>
+          <property key="state" type="string">floating</property>
+          <property key="showTitleBar" type="bool">false</property>
+          <property key="cardBackground" type="string">#666666</property>
+        </gz-gui>
+      </plugin>
+      <plugin filename="TransformControl" name="Transform control">
+        <gz-gui>
+          <property key="resizable" type="bool">false</property>
+          <property key="x" type="double">0</property>
+          <property key="y" type="double">50</property>
+          <property key="width" type="double">250</property>
+          <property key="height" type="double">50</property>
+          <property key="state" type="string">floating</property>
+          <property key="showTitleBar" type="bool">false</property>
+          <property key="cardBackground" type="string">#777777</property>
+        </gz-gui>
+      </plugin>
+      <plugin filename="Screenshot" name="Screenshot">
+        <gz-gui>
+          <property key="resizable" type="bool">false</property>
+          <property key="x" type="double">250</property>
+          <property key="y" type="double">50</property>
+          <property key="width" type="double">50</property>
+          <property key="height" type="double">50</property>
+          <property key="state" type="string">floating</property>
+          <property key="showTitleBar" type="bool">false</property>
+          <property key="cardBackground" type="string">#777777</property>
+        </gz-gui>
+      </plugin>
+      <plugin filename="ComponentInspector" name="Component inspector">
+        <gz-gui>
+          <property type="bool" key="showTitleBar">true</property>
+          <property type="string" key="state">docked</property>
+        </gz-gui>
+      </plugin>
+      <plugin filename="EntityTree" name="Entity tree">
+        <gz-gui>
+          <property type="bool" key="showTitleBar">true</property>
+          <property type="string" key="state">docked</property>
+        </gz-gui>
+      </plugin>
+      <plugin filename="ImageDisplay" name="ImageDisplay">
+        <gz-gui>
+          <property type="string" key="state">docked_collapsed</property>
+        </gz-gui>
+      </plugin>
+      <!-- missing table (see below)
+      <plugin filename="JointPositionController" name="JointPositionController">
+        <gz-gui>
+          <property type="string" key="state">docked_collapsed</property>
+        </gz-gui>
+        <model_name>Panda</model_name>
+      </plugin> -->
+      <plugin filename="KeyPublisher" name="Key publisher">
+        <gz-gui>
+          <anchors target="3D View">
+            <line own="right" target="right"/>
+            <line own="top" target="top"/>
+          </anchors>
+          <property key="resizable" type="bool">false</property>
+          <property key="width" type="double">5</property>
+          <property key="height" type="double">5</property>
+          <property key="state" type="string">floating</property>
+          <property key="showTitleBar" type="bool">false</property>
+        </gz-gui>
+      </plugin>
+    </gui>
+
+    <include>
+        <pose>-6 0 0.25 0 0 0</pose>
+        <uri>model://iris_with_ardupilot</uri>
+    </include>
+
+    <include>
+        <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Depot</uri>
+    </include>
+
+    <include>
+        <pose>-9.4 1.6 0 0 0 -0.5</pose>
+        <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Mecanum lift</uri>
+    </include>
+
+    <include>
+        <pose>-13.2 -6.0 0.15 0 0 0</pose>
+        <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/fog emitter</uri>
+    </include>
+
+    <!-- missing table (see below)
+    <include>
+        <pose>-9.0 -1.8 1.038 0 0 0</pose>
+        <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Panda with Ignition position controller model</uri>
+    </include> -->
+
+    <!-- model has incorrect fuel server details
+    <include>
+        <pose>-9.0 -2.4 0 0 0 1.57</pose>
+        <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Reflective table</uri>
+    </include> -->
+
+    <!-- model has incorrect fuel server details
+    <include>
+        <pose>-13.2 -6.0 0 0 0 1.57</pose>
+        <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Rescue Randy Sitting</uri>
+    </include> -->
+
+    <include>
+        <pose>-9.0 -6.21 5.0 0 0.9 -3.14</pose>
+        <static>true</static>
+        <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/16-Bit Thermal Camera</uri>
+    </include>
+
+    <include>
+        <pose>-9.0 -5.95 5.0 0 0.9 -3.14</pose>
+        <static>true</static>
+        <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/8-Bit Thermal Camera</uri>
+    </include>
+
+    <include>
+        <pose>-9.075 -6.15 4.995 0 0.9 -3.14</pose>
+        <static>true</static>
+        <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Camera</uri>
+    </include>
+
+    <include>
+        <pose>-9.04 -6.04 4.97 0 0.9 -3.14</pose>
+        <static>true</static>
+        <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Depth Camera</uri>
+    </include>
+
+    <!-- uniform temperature object for comparison against rescue randy's heat signature -->
+    <model name="uniform_temp_box">
+      <pose>-13.2 -5.3 0.2 0 0 0</pose>
+      <link name="box_link">
+        <inertial>
+          <inertia>
+            <ixx>1</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>1</iyy>
+            <iyz>0</iyz>
+            <izz>1</izz>
+          </inertia>
+          <mass>1.0</mass>
+        </inertial>
+        <collision name="box_collision">
+          <geometry>
+            <box>
+              <size>0.4 0.4 0.4</size>
+            </box>
+          </geometry>
+        </collision>
+
+        <visual name="box_visual">
+          <geometry>
+            <box>
+              <size>0.4 0.4 0.4</size>
+            </box>
+          </geometry>
+          <material>
+            <ambient>1 0 0 1</ambient>
+            <diffuse>1 0 0 1</diffuse>
+            <specular>1 0 0 1</specular>
+          </material>
+          <plugin
+            filename="gz-sim-thermal-system"
+            name="gz::sim::systems::Thermal">
+            <temperature>285.0</temperature>
+          </plugin>
+        </visual>
+      </link>
+    </model>
+
+    <!-- Mecanum drive teleop -->
+
+    <!-- Moving Forward: w -->
+    <plugin filename="gz-sim-triggered-publisher-system"
+      name="gz::sim::systems::TriggeredPublisher">
+        <input type="gz.msgs.Int32" topic="/keyboard/keypress">
+            <match field="data">87</match>
+        </input>
+        <output type="gz.msgs.Twist" topic="/model/Mecanum_lift/cmd_vel">
+                linear: {x: 1.0, y: 0.0}, angular: {z: 0.0}
+        </output>
+    </plugin>
+
+    <!-- Moving Backward: x -->
+    <plugin filename="gz-sim-triggered-publisher-system"
+      name="gz::sim::systems::TriggeredPublisher">
+        <input type="gz.msgs.Int32" topic="/keyboard/keypress">
+            <match field="data">88</match>
+        </input>
+        <output type="gz.msgs.Twist" topic="/model/Mecanum_lift/cmd_vel">
+                linear: {x: -1.0, y: 0.0}, angular: {z: 0.0}
+        </output>
+    </plugin>
+
+    <!-- Moving right: d -->
+    <plugin filename="gz-sim-triggered-publisher-system"
+      name="gz::sim::systems::TriggeredPublisher">
+        <input type="gz.msgs.Int32" topic="/keyboard/keypress">
+            <match field="data">68</match>
+        </input>
+        <output type="gz.msgs.Twist" topic="/model/Mecanum_lift/cmd_vel">
+                linear: {x: 0.0, y: -1.0}, angular: {z: 0.0}
+        </output>
+    </plugin>
+
+    <!--Moving left: a -->
+    <plugin filename="gz-sim-triggered-publisher-system"
+      name="gz::sim::systems::TriggeredPublisher">
+        <input type="gz.msgs.Int32" topic="/keyboard/keypress">
+            <match field="data">65</match>
+        </input>
+        <output type="gz.msgs.Twist" topic="/model/Mecanum_lift/cmd_vel">
+                linear: {x: 0.0, y: 1.0}, angular: {z: 0.0}
+        </output>
+    </plugin>
+
+    <!-- Rotating right: e -->
+    <plugin filename="gz-sim-triggered-publisher-system"
+      name="gz::sim::systems::TriggeredPublisher">
+        <input type="gz.msgs.Int32" topic="/keyboard/keypress">
+            <match field="data">69</match>
+        </input>
+        <output type="gz.msgs.Twist" topic="/model/Mecanum_lift/cmd_vel">
+                linear: {x: 0.0, y: 0.0}, angular: {z: -1.0}
+        </output>
+    </plugin>
+
+    <!--Rotating left: q -->
+    <plugin filename="gz-sim-triggered-publisher-system"
+      name="gz::sim::systems::TriggeredPublisher">
+        <input type="gz.msgs.Int32" topic="/keyboard/keypress">
+            <match field="data">81</match>
+        </input>
+        <output type="gz.msgs.Twist" topic="/model/Mecanum_lift/cmd_vel">
+                linear: {x: 0.0, y: 0.0}, angular: {z: 1.0}
+        </output>
+    </plugin>
+
+    <!--Stop: s -->
+    <plugin filename="gz-sim-triggered-publisher-system"
+      name="gz::sim::systems::TriggeredPublisher">
+        <input type="gz.msgs.Int32" topic="/keyboard/keypress">
+            <match field="data">83</match>
+        </input>
+        <output type="gz.msgs.Twist" topic="/model/Mecanum_lift/cmd_vel">
+                linear: {x: 0.0, y: 0.0}, angular: {z: 0.0}
+        </output>
+    </plugin>
+
+  </world>
+</sdf>
diff --git a/worlds/zephyr_arduplane_runway.world b/worlds/zephyr_runway.sdf
similarity index 87%
rename from worlds/zephyr_arduplane_runway.world
rename to worlds/zephyr_runway.sdf
index 159717b..830a45d 100755
--- a/worlds/zephyr_arduplane_runway.world
+++ b/worlds/zephyr_runway.sdf
@@ -1,6 +1,11 @@
 <?xml version="1.0" ?>
 <sdf version="1.7">
-  <world name="zephyr_arduplane_runway">
+  <world name="zephyr_runway">
+    <physics name="1ms" type="ignore">
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>-1.0</real_time_factor>
+    </physics>
+
     <plugin filename="gz-sim-physics-system"
       name="gz::sim::systems::Physics">
     </plugin>
@@ -38,10 +43,8 @@
       <uri>model://runway</uri>
     </include>
 
-    <!-- Zephyr oriented for vertical takeoff -->
     <include>
       <pose>0 0 0.422 -1.5707963 0 1.5707963</pose>
-      <!-- <pose>0 0 0.07 0 0 1.5707963</pose> -->
       <uri>model://zephyr_with_ardupilot</uri>
     </include>