From 0017019f765f0fe14d740372811f417b28bdf356 Mon Sep 17 00:00:00 2001
From: Keith Khadar <113483023+Keith-Khadar@users.noreply.github.com>
Date: Wed, 26 Feb 2025 19:58:05 -0500
Subject: [PATCH] Delete sub9.urdf

---
 sub9.urdf | 736 ------------------------------------------------------
 1 file changed, 736 deletions(-)
 delete mode 100644 sub9.urdf

diff --git a/sub9.urdf b/sub9.urdf
deleted file mode 100644
index 2c21402..0000000
--- a/sub9.urdf
+++ /dev/null
@@ -1,736 +0,0 @@
-<?xml version="1.0" ?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from /home/carlos/mil2/src/subjugator/simulation/subjugator_description/urdf/sub9.urdf.xacro | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
-<robot name="sub9" xmlns:experimental="http://sdformat.org/schemas/experimental" xmlns:gz="http://gazebosim.org/schema">
-  <!-- Base Link of the Sub -->
-  <link name="base_link">
-    <!-- Sub's Pose -->
-    <origin rpy="0 0 0" xyz="-0.1 0.0125 -1"/>
-    <!-- Inertial Properties -->
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <!-- Need to be properly calculated at some point -->
-      <mass value="30.5"/>
-      <inertia ixx="0.96105" ixy="0.003" ixz="-0.02" iyy="1.799" iyz="0.0003" izz="2.1286"/>
-    </inertial>
-    <!-- Visual Data-->
-    <visual name="visual">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://subjugator_description/urdf/meshes/Sub9.dae"/>
-      </geometry>
-    </visual>
-    <!-- Collision Data -->
-    <collision name="main_collision">
-      <!-- This collision is for calculating the buoyant forces-->
-      <origin rpy="0 0 0" xyz="0 0 0.1"/>
-      <geometry>
-        <box size="0.9 0.35 0.2"/>
-      </geometry>
-    </collision>
-    <!-- Need to add 'shell' collisions-->
-  </link>
-  <gazebo>
-    <plugin filename="gz-sim-hydrodynamics-system" name="gz::sim::systems::Hydrodynamics">
-      <link_name>base_link</link_name>
-      <xDotU>-2</xDotU>
-      <yDotV>-5</yDotV>
-      <zDotW>-5</zDotW>
-      <kDotP>-0.1</kDotP>
-      <mDotQ>-1</mDotQ>
-      <nDotR>-1</nDotR>
-      <xUabsU>-25</xUabsU>
-      <xU>-50</xU>
-      <yVabsV>-25</yVabsV>
-      <yV>-50</yV>
-      <zWabsW>-5</zWabsW>
-      <zW>-50</zW>
-      <kPabsP>-5</kPabsP>
-      <kP>-10</kP>
-      <mQabsQ>-5</mQabsQ>
-      <mQ>-10</mQ>
-      <nRabsR>-5</nRabsR>
-      <nR>-10</nR>
-    </plugin>
-  </gazebo>
-  <!-- Camera Link -->
-  <link name="front_cam_link">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0.1"/>
-      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
-    </inertial>
-  </link>
-  <!-- Camera Joint -->
-  <joint name="front_cam_joint" type="fixed">
-    <origin rpy="0 0 3.14159" xyz="-0.32 -0.014274 -0.050"/>
-    <parent link="base_link"/>
-    <child link="front_cam_link"/>
-  </joint>
-  <!-- This ensures that the fixed link is not simplified away -->
-  <gazebo reference="front_cam_joint">
-    <disableFixedJointLumping>true</disableFixedJointLumping>
-    <preserveFixedJoint>true</preserveFixedJoint>
-  </gazebo>
-  <gazebo reference="front_cam_link">
-    <sensor name="front_cam_camera" type="rgbd_camera">
-      <update_rate>30</update_rate>
-      <visualize>true</visualize>
-      <always_on>1</always_on>
-      <topic>front_cam</topic>
-      <camera>
-        <horizontal_fov>1.047</horizontal_fov>
-        <image>
-          <width>960</width>
-          <height>600</height>
-        </image>
-        <clip>
-          <near>0.1</near>
-          <far>10.0</far>
-        </clip>
-      </camera>
-    </sensor>
-  </gazebo>
-  <!-- Camera Link -->
-  <link name="down_cam_link">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0.1"/>
-      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
-    </inertial>
-  </link>
-  <!-- Camera Joint -->
-  <joint name="down_cam_joint" type="fixed">
-    <origin rpy="0 1.57 0" xyz="-0.15222 0.027913 -0.22"/>
-    <parent link="base_link"/>
-    <child link="down_cam_link"/>
-  </joint>
-  <!-- This ensures that the fixed link is not simplified away -->
-  <gazebo reference="down_cam_joint">
-    <disableFixedJointLumping>true</disableFixedJointLumping>
-    <preserveFixedJoint>true</preserveFixedJoint>
-  </gazebo>
-  <gazebo reference="down_cam_link">
-    <sensor name="down_cam_camera" type="rgbd_camera">
-      <update_rate>30</update_rate>
-      <visualize>true</visualize>
-      <always_on>1</always_on>
-      <topic>down_cam</topic>
-      <camera>
-        <horizontal_fov>1.047</horizontal_fov>
-        <image>
-          <width>960</width>
-          <height>600</height>
-        </image>
-        <clip>
-          <near>0.1</near>
-          <far>10.0</far>
-        </clip>
-      </camera>
-    </sensor>
-  </gazebo>
-  <!-- DVL Link -->
-  <link name="dvl_sensor_link">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0.1"/>
-      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
-    </inertial>
-  </link>
-  <!-- DVL Joint -->
-  <joint name="dvl_sensor_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.21236 0.00254 -0.10233"/>
-    <parent link="base_link"/>
-    <child link="dvl_sensor_link"/>
-  </joint>
-  <!-- This ensures that the fixed link is not simplified away -->
-  <gazebo reference="dvl_sensor_joint">
-    <disableFixedJointLumping>true</disableFixedJointLumping>
-    <preserveFixedJoint>true</preserveFixedJoint>
-  </gazebo>
-  <!-- Sensor/Plugin Info-->
-  <gazebo reference="dvl_sensor_link">
-    <sensor gz:type="dvl" name="A50_Waterlinked" type="custom">
-      <pose>0 0 0 0 0 0</pose>
-      <always_on>1</always_on>
-      <update_rate>8</update_rate>
-      <topic>/dvl/velocity</topic>
-      <gz:dvl>
-        <type>phased_array</type>
-        <arrangement degrees="true">
-          <beam id="1">
-            <aperture>3</aperture>
-            <rotation>-135</rotation>
-            <tilt>25</tilt>
-          </beam>
-          <beam>
-            <aperture>3</aperture>
-            <rotation>135</rotation>
-            <tilt>25</tilt>
-          </beam>
-          <beam>
-            <aperture>3</aperture>
-            <rotation>45</rotation>
-            <tilt>25</tilt>
-          </beam>
-          <beam>
-            <aperture>3</aperture>
-            <rotation>-45</rotation>
-            <tilt>25</tilt>
-          </beam>
-        </arrangement>
-        <tracking>
-          <water_mass_mode>
-            <when>best</when>
-            <water_velocity>
-              <x>0.</x>
-              <y>0.</y>
-              <z>0.</z>
-            </water_velocity>
-            <boundaries>
-              <near>10.</near>
-              <far>100.</far>
-            </boundaries>
-            <bins>10</bins>
-            <noise type="gaussian">
-              <stddev>0.015</stddev>
-            </noise>
-            <visualize>true</visualize>
-          </water_mass_mode>
-          <bottom_mode>
-            <when>best</when>
-            <noise type="gaussian">
-              <stddev>0.005</stddev>
-            </noise>
-            <visualize>true</visualize>
-          </bottom_mode>
-        </tracking>
-        <maximum_range>200.</maximum_range>
-        <minimum_range>0.3</minimum_range>
-        <!-- ENU to FSD -->
-        <reference_frame>0 0 0 3.14 0 -1.57</reference_frame>
-      </gz:dvl>
-    </sensor>
-  </gazebo>
-  <gazebo>
-    <plugin filename="DVLBridge" name="dave_ros_gz_plugins::DVLBridge">
-      <!-- Grabbed in DVL Bridge script -->
-      <topic>/dvl/velocity</topic>
-    </plugin>
-  </gazebo>
-  <!-- Imu link -->
-  <link name="imu_link">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0.1"/>
-      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
-    </inertial>
-  </link>
-  <!-- IMU joint -->
-  <joint name="imu_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.0632 -0.164 -0.079"/>
-    <parent link="base_link"/>
-    <child link="imu_link"/>
-  </joint>
-  <!-- This ensures that the fixed link is not simplified away -->
-  <gazebo reference="imu_joint">
-    <disableFixedJointLumping>true</disableFixedJointLumping>
-    <preserveFixedJoint>true</preserveFixedJoint>
-  </gazebo>
-  <!-- Sensor/Plugin Info-->
-  <gazebo reference="imu_link">
-    <sensor name="imu_link" type="imu">
-      <always_on>true</always_on>
-      <update_rate>210</update_rate>
-      <topic>/imu/data_raw</topic>
-      <gz_frame_id>imu_link</gz_frame_id>
-      <imu>
-        <linear_acceleration>
-          <x>
-            <noise type="gaussian">
-              <stddev>0.08825985</stddev>
-            </noise>
-          </x>
-          <y>
-            <noise type="gaussian">
-              <stddev>0.08825985</stddev>
-            </noise>
-          </y>
-          <z>
-            <noise type="gaussian">
-              <stddev>0.08825985</stddev>
-            </noise>
-          </z>
-        </linear_acceleration>
-        <angular_velocity>
-          <x>
-            <noise type="gaussian">
-              <stddev>0.015707963</stddev>
-            </noise>
-          </x>
-          <y>
-            <noise type="gaussian">
-              <stddev>0.015707963</stddev>
-            </noise>
-          </y>
-          <z>
-            <noise type="gaussian">
-              <stddev>0.015707963</stddev>
-            </noise>
-          </z>
-        </angular_velocity>
-      </imu>
-      <plugin filename="gz-sim-imu-system" name="gz::sim::systems::Imu"/>
-    </sensor>
-    <sensor name="VectorNav_MAG" type="magnetometer">
-      <always_on>true</always_on>
-      <update_rate>210</update_rate>
-      <topic>/imu/mag</topic>
-      <plugin filename="gz-sim-magnetometer-system" name="gz::sim::systems::Magnetometer"/>
-    </sensor>
-  </gazebo>
-  <link name="depth_sensor_link">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0.1"/>
-      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
-    </inertial>
-  </link>
-  <!-- DepthSensor Joint -->
-  <joint name="depth_sensor_joint" type="fixed">
-    <parent link="base_link"/>
-    <child link="depth_sensor_link"/>
-    <origin rpy="0 0 0" xyz="0 0 -0.2"/>
-  </joint>
-  <!-- This ensures that the fixed link is not simplified away -->
-  <gazebo reference="depth_sensor_joint">
-    <disableFixedJointLumping>true</disableFixedJointLumping>
-    <preserveFixedJoint>true</preserveFixedJoint>
-  </gazebo>
-  <gazebo reference="depth_sensor_plugin">
-    <sensor name="depth" type="depth_sensor">
-      <topic>/depth</topic>
-      <plugin filename="DepthSensor" name="depth_sensor::DepthSensor">
-        <!-- SDF parameters -->
-        <frame_id>depth_sensor_frame</frame_id>
-        <offset>0 0 0 0 0 0</offset>
-        <update_rate>10</update_rate>
-      </plugin>
-    </sensor>
-  </gazebo>
-  <!-- Link for base of thruster (this is for TF) -->
-  <link name="FLV_link">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0.01"/>
-      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
-    </inertial>
-  </link>
-  <!-- Thruster base Joint -->
-  <joint name="FLV_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="-0.15217 -0.16474 0.010449"/>
-    <parent link="base_link"/>
-    <child link="FLV_link"/>
-  </joint>
-  <!-- This ensures that the fixed link is not simplified away -->
-  <gazebo reference="FLV_joint">
-    <disableFixedJointLumping>true</disableFixedJointLumping>
-    <preserveFixedJoint>true</preserveFixedJoint>
-  </gazebo>
-  <!-- Thruster Direction link (this is for the plugin) -->
-  <!-- The plugin does not work with a fixed link -->
-  <link name="FLV_dir_link">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0.01"/>
-      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
-    </inertial>
-  </link>
-  <!-- Thruster Direction joint -->
-  <joint name="FLV_dir_joint" type="revolute">
-    <origin rpy="0 0 0" xyz="0 0 1"/>
-    <parent link="FLV_link"/>
-    <child link="FLV_dir_link"/>
-    <limit effort="1000" lower="0.0" upper="0.548" velocity="0.5"/>
-    <axis xyz="0 0 1"/>
-  </joint>
-  <!-- Sensor/Plugin Info-->
-  <!-- For the thruster plugin this gazebo tag needs to be global-->
-  <!-- Don't give it a reference like the other plugins-->
-  <gazebo>
-    <plugin filename="gz-sim-thruster-system" name="gz::sim::systems::Thruster">
-      <namespace>FLV</namespace>
-      <use_angvel_cmd>0</use_angvel_cmd>
-      <joint_name>FLV_dir_joint</joint_name>
-      <thrust_coefficient>0.01407</thrust_coefficient>
-      <fluid_density>1000</fluid_density>
-      <propeller_diameter>0.2</propeller_diameter>
-    </plugin>
-  </gazebo>
-  <!-- Link for base of thruster (this is for TF) -->
-  <link name="FRV_link">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0.01"/>
-      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
-    </inertial>
-  </link>
-  <!-- Thruster base Joint -->
-  <joint name="FRV_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="-0.1492 0.13821 0.010449"/>
-    <parent link="base_link"/>
-    <child link="FRV_link"/>
-  </joint>
-  <!-- This ensures that the fixed link is not simplified away -->
-  <gazebo reference="FRV_joint">
-    <disableFixedJointLumping>true</disableFixedJointLumping>
-    <preserveFixedJoint>true</preserveFixedJoint>
-  </gazebo>
-  <!-- Thruster Direction link (this is for the plugin) -->
-  <!-- The plugin does not work with a fixed link -->
-  <link name="FRV_dir_link">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0.01"/>
-      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
-    </inertial>
-  </link>
-  <!-- Thruster Direction joint -->
-  <joint name="FRV_dir_joint" type="revolute">
-    <origin rpy="0 0 0" xyz="0 0 1"/>
-    <parent link="FRV_link"/>
-    <child link="FRV_dir_link"/>
-    <limit effort="1000" lower="0.0" upper="0.548" velocity="0.5"/>
-    <axis xyz="0 0 1"/>
-  </joint>
-  <!-- Sensor/Plugin Info-->
-  <!-- For the thruster plugin this gazebo tag needs to be global-->
-  <!-- Don't give it a reference like the other plugins-->
-  <gazebo>
-    <plugin filename="gz-sim-thruster-system" name="gz::sim::systems::Thruster">
-      <namespace>FRV</namespace>
-      <use_angvel_cmd>0</use_angvel_cmd>
-      <joint_name>FRV_dir_joint</joint_name>
-      <thrust_coefficient>0.01407</thrust_coefficient>
-      <fluid_density>1000</fluid_density>
-      <propeller_diameter>0.2</propeller_diameter>
-    </plugin>
-  </gazebo>
-  <!-- Link for base of thruster (this is for TF) -->
-  <link name="BRV_link">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0.01"/>
-      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
-    </inertial>
-  </link>
-  <!-- Thruster base Joint -->
-  <joint name="BRV_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.31117 0.13821 0.010449"/>
-    <parent link="base_link"/>
-    <child link="BRV_link"/>
-  </joint>
-  <!-- This ensures that the fixed link is not simplified away -->
-  <gazebo reference="BRV_joint">
-    <disableFixedJointLumping>true</disableFixedJointLumping>
-    <preserveFixedJoint>true</preserveFixedJoint>
-  </gazebo>
-  <!-- Thruster Direction link (this is for the plugin) -->
-  <!-- The plugin does not work with a fixed link -->
-  <link name="BRV_dir_link">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0.01"/>
-      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
-    </inertial>
-  </link>
-  <!-- Thruster Direction joint -->
-  <joint name="BRV_dir_joint" type="revolute">
-    <origin rpy="0 0 0" xyz="0 0 1"/>
-    <parent link="BRV_link"/>
-    <child link="BRV_dir_link"/>
-    <limit effort="1000" lower="0.0" upper="0.548" velocity="0.5"/>
-    <axis xyz="0 0 1"/>
-  </joint>
-  <!-- Sensor/Plugin Info-->
-  <!-- For the thruster plugin this gazebo tag needs to be global-->
-  <!-- Don't give it a reference like the other plugins-->
-  <gazebo>
-    <plugin filename="gz-sim-thruster-system" name="gz::sim::systems::Thruster">
-      <namespace>BRV</namespace>
-      <use_angvel_cmd>0</use_angvel_cmd>
-      <joint_name>BRV_dir_joint</joint_name>
-      <thrust_coefficient>0.01407</thrust_coefficient>
-      <fluid_density>1000</fluid_density>
-      <propeller_diameter>0.2</propeller_diameter>
-    </plugin>
-  </gazebo>
-  <!-- Link for base of thruster (this is for TF) -->
-  <link name="BLV_link">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0.01"/>
-      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
-    </inertial>
-  </link>
-  <!-- Thruster base Joint -->
-  <joint name="BLV_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.30868 -0.16621 0.010449"/>
-    <parent link="base_link"/>
-    <child link="BLV_link"/>
-  </joint>
-  <!-- This ensures that the fixed link is not simplified away -->
-  <gazebo reference="BLV_joint">
-    <disableFixedJointLumping>true</disableFixedJointLumping>
-    <preserveFixedJoint>true</preserveFixedJoint>
-  </gazebo>
-  <!-- Thruster Direction link (this is for the plugin) -->
-  <!-- The plugin does not work with a fixed link -->
-  <link name="BLV_dir_link">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0.01"/>
-      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
-    </inertial>
-  </link>
-  <!-- Thruster Direction joint -->
-  <joint name="BLV_dir_joint" type="revolute">
-    <origin rpy="0 0 0" xyz="0 0 1"/>
-    <parent link="BLV_link"/>
-    <child link="BLV_dir_link"/>
-    <limit effort="1000" lower="0.0" upper="0.548" velocity="0.5"/>
-    <axis xyz="0 0 1"/>
-  </joint>
-  <!-- Sensor/Plugin Info-->
-  <!-- For the thruster plugin this gazebo tag needs to be global-->
-  <!-- Don't give it a reference like the other plugins-->
-  <gazebo>
-    <plugin filename="gz-sim-thruster-system" name="gz::sim::systems::Thruster">
-      <namespace>BLV</namespace>
-      <use_angvel_cmd>0</use_angvel_cmd>
-      <joint_name>BLV_dir_joint</joint_name>
-      <thrust_coefficient>0.01407</thrust_coefficient>
-      <fluid_density>1000</fluid_density>
-      <propeller_diameter>0.2</propeller_diameter>
-    </plugin>
-  </gazebo>
-  <!-- Link for base of thruster (this is for TF) -->
-  <link name="FLH_link">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0.01"/>
-      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
-    </inertial>
-  </link>
-  <!-- Thruster base Joint -->
-  <joint name="FLH_joint" type="fixed">
-    <origin rpy="-1.5708 0 0.7854" xyz="-0.14714 -0.26409 0.038317"/>
-    <parent link="base_link"/>
-    <child link="FLH_link"/>
-  </joint>
-  <!-- This ensures that the fixed link is not simplified away -->
-  <gazebo reference="FLH_joint">
-    <disableFixedJointLumping>true</disableFixedJointLumping>
-    <preserveFixedJoint>true</preserveFixedJoint>
-  </gazebo>
-  <!-- Thruster Direction link (this is for the plugin) -->
-  <!-- The plugin does not work with a fixed link -->
-  <link name="FLH_dir_link">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0.01"/>
-      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
-    </inertial>
-  </link>
-  <!-- Thruster Direction joint -->
-  <joint name="FLH_dir_joint" type="revolute">
-    <origin rpy="0 0 0" xyz="0 0 1"/>
-    <parent link="FLH_link"/>
-    <child link="FLH_dir_link"/>
-    <limit effort="1000" lower="0.0" upper="0.548" velocity="0.5"/>
-    <axis xyz="0 0 1"/>
-  </joint>
-  <!-- Sensor/Plugin Info-->
-  <!-- For the thruster plugin this gazebo tag needs to be global-->
-  <!-- Don't give it a reference like the other plugins-->
-  <gazebo>
-    <plugin filename="gz-sim-thruster-system" name="gz::sim::systems::Thruster">
-      <namespace>FLH</namespace>
-      <use_angvel_cmd>0</use_angvel_cmd>
-      <joint_name>FLH_dir_joint</joint_name>
-      <thrust_coefficient>0.01407</thrust_coefficient>
-      <fluid_density>1000</fluid_density>
-      <propeller_diameter>0.2</propeller_diameter>
-    </plugin>
-  </gazebo>
-  <!-- Link for base of thruster (this is for TF) -->
-  <link name="FRH_link">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0.01"/>
-      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
-    </inertial>
-  </link>
-  <!-- Thruster base Joint -->
-  <joint name="FRH_joint" type="fixed">
-    <origin rpy="1.5708 0 -0.7854" xyz="-0.147 0.2413 0.038324"/>
-    <parent link="base_link"/>
-    <child link="FRH_link"/>
-  </joint>
-  <!-- This ensures that the fixed link is not simplified away -->
-  <gazebo reference="FRH_joint">
-    <disableFixedJointLumping>true</disableFixedJointLumping>
-    <preserveFixedJoint>true</preserveFixedJoint>
-  </gazebo>
-  <!-- Thruster Direction link (this is for the plugin) -->
-  <!-- The plugin does not work with a fixed link -->
-  <link name="FRH_dir_link">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0.01"/>
-      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
-    </inertial>
-  </link>
-  <!-- Thruster Direction joint -->
-  <joint name="FRH_dir_joint" type="revolute">
-    <origin rpy="0 0 0" xyz="0 0 1"/>
-    <parent link="FRH_link"/>
-    <child link="FRH_dir_link"/>
-    <limit effort="1000" lower="0.0" upper="0.548" velocity="0.5"/>
-    <axis xyz="0 0 1"/>
-  </joint>
-  <!-- Sensor/Plugin Info-->
-  <!-- For the thruster plugin this gazebo tag needs to be global-->
-  <!-- Don't give it a reference like the other plugins-->
-  <gazebo>
-    <plugin filename="gz-sim-thruster-system" name="gz::sim::systems::Thruster">
-      <namespace>FRH</namespace>
-      <use_angvel_cmd>0</use_angvel_cmd>
-      <joint_name>FRH_dir_joint</joint_name>
-      <thrust_coefficient>0.01407</thrust_coefficient>
-      <fluid_density>1000</fluid_density>
-      <propeller_diameter>0.2</propeller_diameter>
-    </plugin>
-  </gazebo>
-  <!-- Link for base of thruster (this is for TF) -->
-  <link name="BRH_link">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0.01"/>
-      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
-    </inertial>
-  </link>
-  <!-- Thruster base Joint -->
-  <joint name="BRH_joint" type="fixed">
-    <origin rpy="-1.5708 0 0.7854" xyz="0.32369 0.22645 0.038317"/>
-    <parent link="base_link"/>
-    <child link="BRH_link"/>
-  </joint>
-  <!-- This ensures that the fixed link is not simplified away -->
-  <gazebo reference="BRH_joint">
-    <disableFixedJointLumping>true</disableFixedJointLumping>
-    <preserveFixedJoint>true</preserveFixedJoint>
-  </gazebo>
-  <!-- Thruster Direction link (this is for the plugin) -->
-  <!-- The plugin does not work with a fixed link -->
-  <link name="BRH_dir_link">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0.01"/>
-      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
-    </inertial>
-  </link>
-  <!-- Thruster Direction joint -->
-  <joint name="BRH_dir_joint" type="revolute">
-    <origin rpy="0 0 0" xyz="0 0 1"/>
-    <parent link="BRH_link"/>
-    <child link="BRH_dir_link"/>
-    <limit effort="1000" lower="0.0" upper="0.548" velocity="0.5"/>
-    <axis xyz="0 0 1"/>
-  </joint>
-  <!-- Sensor/Plugin Info-->
-  <!-- For the thruster plugin this gazebo tag needs to be global-->
-  <!-- Don't give it a reference like the other plugins-->
-  <gazebo>
-    <plugin filename="gz-sim-thruster-system" name="gz::sim::systems::Thruster">
-      <namespace>BRH</namespace>
-      <use_angvel_cmd>0</use_angvel_cmd>
-      <joint_name>BRH_dir_joint</joint_name>
-      <thrust_coefficient>0.01407</thrust_coefficient>
-      <fluid_density>1000</fluid_density>
-      <propeller_diameter>0.2</propeller_diameter>
-    </plugin>
-  </gazebo>
-  <!-- Link for base of thruster (this is for TF) -->
-  <link name="BLH_link">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0.01"/>
-      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
-    </inertial>
-  </link>
-  <!-- Thruster base Joint -->
-  <joint name="BLH_joint" type="fixed">
-    <origin rpy="1.5708 0 -0.7854" xyz="0.32397 -0.25204 0.038324"/>
-    <parent link="base_link"/>
-    <child link="BLH_link"/>
-  </joint>
-  <!-- This ensures that the fixed link is not simplified away -->
-  <gazebo reference="BLH_joint">
-    <disableFixedJointLumping>true</disableFixedJointLumping>
-    <preserveFixedJoint>true</preserveFixedJoint>
-  </gazebo>
-  <!-- Thruster Direction link (this is for the plugin) -->
-  <!-- The plugin does not work with a fixed link -->
-  <link name="BLH_dir_link">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0.01"/>
-      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
-    </inertial>
-  </link>
-  <!-- Thruster Direction joint -->
-  <joint name="BLH_dir_joint" type="revolute">
-    <origin rpy="0 0 0" xyz="0 0 1"/>
-    <parent link="BLH_link"/>
-    <child link="BLH_dir_link"/>
-    <limit effort="1000" lower="0.0" upper="0.548" velocity="0.5"/>
-    <axis xyz="0 0 1"/>
-  </joint>
-  <!-- Sensor/Plugin Info-->
-  <!-- For the thruster plugin this gazebo tag needs to be global-->
-  <!-- Don't give it a reference like the other plugins-->
-  <gazebo>
-    <plugin filename="gz-sim-thruster-system" name="gz::sim::systems::Thruster">
-      <namespace>BLH</namespace>
-      <use_angvel_cmd>0</use_angvel_cmd>
-      <joint_name>BLH_dir_joint</joint_name>
-      <thrust_coefficient>0.01407</thrust_coefficient>
-      <fluid_density>1000</fluid_density>
-      <propeller_diameter>0.2</propeller_diameter>
-    </plugin>
-  </gazebo>
-</robot>