diff --git a/gazebo_models/ZED_stereocamera/meshes/ZED.stl b/gazebo_models/ZED_stereocamera/meshes/ZED.stl
new file mode 100644
index 00000000..913d2cd9
Binary files /dev/null and b/gazebo_models/ZED_stereocamera/meshes/ZED.stl differ
diff --git a/gazebo_models/ZED_stereocamera/model.config b/gazebo_models/ZED_stereocamera/model.config
new file mode 100644
index 00000000..89b06d22
--- /dev/null
+++ b/gazebo_models/ZED_stereocamera/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>ZED_Stereocamera</name>
+  <version>1.0</version>
+  <sdf version="1.5">model.sdf</sdf>
+
+  <author>
+    <name>Seunghwan Jo</name>
+    <email>snipertype@cnu.ac.kr</email>
+  </author>
+
+  <description>
+    StereoLabs ZED Stereovision Camera connected with ROS
+  </description>
+</model>
diff --git a/gazebo_models/ZED_stereocamera/model.sdf b/gazebo_models/ZED_stereocamera/model.sdf
new file mode 100644
index 00000000..b1fae324
--- /dev/null
+++ b/gazebo_models/ZED_stereocamera/model.sdf
@@ -0,0 +1,89 @@
+<?xml version="1.0" ?>
+<sdf version="1.5">
+  <model name="ZED_stereocamera">
+    <link name="link">
+      <pose>0 0 0 0 0 0</pose>
+      <inertial>
+        <mass>0.159</mass>
+        <inertia>
+          <ixx>0.000012</ixx>
+      		<iyy>0.000406</iyy>
+      		<izz>0.000418</izz>
+        </inertia>
+      </inertial>
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>0.1 0.1 0.1</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <mesh>
+            <uri> model://ZED_stereocamera/meshes/ZED.stl</uri>
+            </mesh>
+          </geometry>
+      </visual>
+      <visual name="visual_lens_left">
+        <pose>0 -0.06 0 0 1.57 0</pose>
+        <geometry>
+           <cylinder>
+              <radius>0.007</radius>
+              <length>0.030</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/WideLensMap</name>
+            </script>
+          </material>
+      </visual>
+      <visual name="visual_lens_right">
+        <pose>0 0.06 0 0 1.57 0</pose>
+        <geometry>
+           <cylinder>
+              <radius>0.007</radius>
+              <length>0.030</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/WideLensMap</name>
+            </script>
+          </material>
+      </visual>
+      <sensor name="camera" type="multicamera">
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+        <visualize>true</visualize>
+        <camera name="left">
+          <pose>0 0 0 0 0 0</pose>
+          <horizontal_fov>1.91986</horizontal_fov>
+          <image>
+            <width>720</width>
+            <height>480</height>
+          </image>
+          <clip>
+            <near>0.1</near>
+            <far>100</far>
+          </clip>
+        </camera>
+        <camera name="right">
+          <pose>0 -0.12 0 0 0 0</pose>
+          <horizontal_fov>1.91986</horizontal_fov>
+          <image>
+            <width>720</width>
+            <height>480</height>
+          </image>
+          <clip>
+            <near>0.1</near>
+            <far>100</far>
+          </clip>
+        </camera>
+      </sensor>
+    </link>
+  </model>
+</sdf>
diff --git a/gazebo_models/ZED_stereocamera/zed.sdf b/gazebo_models/ZED_stereocamera/zed.sdf
new file mode 100644
index 00000000..7b6740a2
--- /dev/null
+++ b/gazebo_models/ZED_stereocamera/zed.sdf
@@ -0,0 +1,101 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+
+  <model name="ZED_stereocamera">
+  <link name="ZED_left_camera">
+	<pose>0 0 0 0 1.57 0</pose>
+	<inertial>
+	  <mass>0.01</mass>
+	  <inertia>
+		  <ixx>0.000001</ixx>
+		  <iyy>0.000001</iyy>
+		  <izz>0.000001</izz>
+	  </inertia>
+	</inertial>
+        <visual>
+          <geometry>
+             <cylinder>
+                <radius>0.007</radius>
+                <length>0.031</length>
+              </cylinder>
+            </geometry>
+        </visual>
+
+      <sensor name="ZED_cameras" type="multicamera">
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+        <visualize>true</visualize>
+        <camera name="camera_left">
+         <pose>0 0 0 0 0 0 </pose>
+         <horizontal_fov>1.91986</horizontal_fov>
+         <image>
+          <width>720</width>
+          <height>480</height>
+          </image>
+         <clip>
+            <near>0.1</near>
+            <far>100</far>
+         </clip>
+        </camera>
+
+         <camera name="camera_right">
+          <pose>0 -0.12 0 0 0 0 </pose>
+          <horizontal_fov>1.91986</horizontal_fov>
+          <image>
+            <width>720</width>
+            <height>480</height>
+            </image>
+           <clip>
+            <near>0.1</near>
+            <far>100</far>
+            </clip>
+          </camera>
+        </sensor>
+      </link>
+
+    <link name="ZED_center">
+    	<pose>0 -0.06 0 0 0 0</pose>
+    	<inertial>
+      	<mass>0.157</mass>
+    	<inertia>
+    		<ixx>0.000012</ixx>
+    		<iyy>0.000406</iyy>
+    		<izz>0.000418</izz>
+    	</inertia>
+    	</inertial>
+	    <collision name="collision_frame">
+        <geometry>
+          <box>
+          <size>0.175 0.03 0.033</size>
+          </box>
+        </geometry>
+      <visual name="ZED_Visual">
+        <pose>0 0 0 0 0 0</pose>
+          <geometry>
+            <mesh>
+         		<uri> model://ZED_stereocamera/meshes/ZED.stl</uri>
+         		</mesh>
+          </geometry>
+      </visual>
+    </link>
+    <link name="ZED_right_camera">
+      <pose>0 -0.12 0 0 0 0</pose>
+    	<inertial>
+	    <mass>0.01</mass>
+	    <inertia>
+		  <ixx>0.000001</ixx>
+		  <iyy>0.000001</iyy>
+		  <izz>0.000001</izz>
+	    </inertia>
+	    </inertial>
+        <visual>
+           <pose>0 0 0 0 1.57 0</pose>
+            <geometry>
+              <cylinder>
+                <radius>0.007</radius>
+                <length>0.031</length>
+              </cylinder>
+              </visual>
+      </link>
+    </model>
+</sdf>
diff --git a/gazebo_models/ZED_stereocamera/zed.urdf b/gazebo_models/ZED_stereocamera/zed.urdf
new file mode 100644
index 00000000..3dd5eaa4
--- /dev/null
+++ b/gazebo_models/ZED_stereocamera/zed.urdf
@@ -0,0 +1,50 @@
+<?xml version="1.0"?>
+<robot name="zed_camera">
+
+    <link name="ZED_left_camera">
+        <visual>
+            <origin xyz="0 0 0" rpy="0 1.57 0"/>
+            <geometry>
+                <cylinder radius="0.007" length=".031"/>
+            </geometry>
+            <material name="dark_grey">
+                <color rgba="0.1 0.1 0.1 1"/>
+            </material>
+        </visual>
+    </link>
+    <link name="ZED_center">
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="package://zed_wrapper/urdf/ZED.stl" />
+            </geometry>
+            <material name="light_grey">
+                <color rgba="0.8 0.8 0.8 0.8"/>
+            </material>
+        </visual>
+    </link>
+    <link name="ZED_right_camera">
+        <visual>
+            <origin xyz="0 0 0" rpy="0 1.57 0"/>
+            <geometry>
+                <cylinder radius="0.007" length=".031"/>
+            </geometry>
+            <material name="dark_grey">
+                <color rgba="0.1 0.1 0.1 1"/>
+            </material>
+        </visual>
+    </link>
+
+    <joint name="ZED_center_joint" type="fixed">
+        <parent link="ZED_left_camera"/>
+        <child link="ZED_center"/>
+        <origin xyz="0 -0.06 0" rpy="0 0 0" />
+    </joint>
+
+    <joint name="ZED_right_camera_joint" type="fixed">
+        <parent link="ZED_left_camera"/>
+        <child link="ZED_right_camera"/>
+        <origin xyz="0 -0.12 0" rpy="0 0 0" />
+    </joint>
+
+</robot>
diff --git a/gazebo_models/iris_with_sterovision/meshes/iris.dae b/gazebo_models/iris_with_sterovision/meshes/iris.dae
new file mode 100644
index 00000000..614e6b1b
--- /dev/null
+++ b/gazebo_models/iris_with_sterovision/meshes/iris.dae
@@ -0,0 +1,160 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.73.0 commit date:2015-01-07, commit time:13:17, hash:b4d8fb5</authoring_tool>
+    </contributor>
+    <created>2015-01-13T11:25:35</created>
+    <modified>2015-01-13T11:25:35</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">49.13434</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <YF_dofdist>0</YF_dofdist>
+          <shiftx>0</shiftx>
+          <shifty>0</shifty>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Lamp-light" name="Lamp">
+      <technique_common>
+        <point>
+          <color sid="color">1 1 1</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <adapt_thresh>0.000999987</adapt_thresh>
+          <area_shape>1</area_shape>
+          <area_size>0.1</area_size>
+          <area_sizey>0.1</area_sizey>
+          <area_sizez>1</area_sizez>
+          <atm_distance_factor>1</atm_distance_factor>
+          <atm_extinction_factor>1</atm_extinction_factor>
+          <atm_turbidity>2</atm_turbidity>
+          <att1>0</att1>
+          <att2>1</att2>
+          <backscattered_light>1</backscattered_light>
+          <bias>1</bias>
+          <blue>1</blue>
+          <buffers>1</buffers>
+          <bufflag>0</bufflag>
+          <bufsize>2880</bufsize>
+          <buftype>2</buftype>
+          <clipend>30.002</clipend>
+          <clipsta>1.000799</clipsta>
+          <compressthresh>0.04999995</compressthresh>
+          <dist sid="blender_dist">29.99998</dist>
+          <energy sid="blender_energy">1</energy>
+          <falloff_type>2</falloff_type>
+          <filtertype>0</filtertype>
+          <flag>0</flag>
+          <gamma sid="blender_gamma">1</gamma>
+          <green>1</green>
+          <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
+          <horizon_brightness>1</horizon_brightness>
+          <mode>8192</mode>
+          <ray_samp>1</ray_samp>
+          <ray_samp_method>1</ray_samp_method>
+          <ray_samp_type>0</ray_samp_type>
+          <ray_sampy>1</ray_sampy>
+          <ray_sampz>1</ray_sampz>
+          <red>1</red>
+          <samp>3</samp>
+          <shadhalostep>0</shadhalostep>
+          <shadow_b sid="blender_shadow_b">0</shadow_b>
+          <shadow_g sid="blender_shadow_g">0</shadow_g>
+          <shadow_r sid="blender_shadow_r">0</shadow_r>
+          <sky_colorspace>0</sky_colorspace>
+          <sky_exposure>1</sky_exposure>
+          <skyblendfac>1</skyblendfac>
+          <skyblendtype>1</skyblendtype>
+          <soft>3</soft>
+          <spotblend>0.15</spotblend>
+          <spotsize>75</spotsize>
+          <spread>1</spread>
+          <sun_brightness>1</sun_brightness>
+          <sun_effect_type>0</sun_effect_type>
+          <sun_intensity>1</sun_intensity>
+          <sun_size>1</sun_size>
+          <type>0</type>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_images/>
+  <library_geometries>
+    <geometry id="ASY0028-mesh" name="ASY0028">
+      <mesh>
+        <source id="ASY0028-mesh-positions">
+          <float_array id="ASY0028-mesh-positions-array" count="389811">167.1186 110.2216 -7.641913 163.216 107.9685 -7.641913 167.1665 110.4004 -4.644913 163.0373 108.0164 -4.644913 162.4723 118.5309 -4.644913 158.3431 116.1469 -4.644913 162.2936 118.5788 -7.641913 158.391 116.3256 -7.641913 156.8855 118.9332 -7.641913 160.7881 121.1864 -7.641913 155.3966 121.2704 -4.873414 155.5022 121.0675 -4.644913 168.6241 107.614 -7.641913 170.113 105.2769 -4.873414 170.0074 105.4797 -4.644913 161.3472 100.4797 -4.644913 158.1592 106.0015 -4.644913 165.8782 103.0957 -4.644913 174.5385 108.0957 -4.644913 171.3505 113.6175 -4.644913 184.6478 109.5861 1.473187 184.8487 109.7366 1.469884 184.5922 109.6654 1.079525 184.6903 109.8086 0.9678526 184.458 109.8571 0.7672439 184.509 109.9904 0.7018995 184.2893 110.1733 0.5596786 184.3872 110.1807 0.5829907 184.0688 110.4124 0.5080867 184.2857 110.3027 0.5360975 184.4185 110.3325 0.5733328 184.8586 109.8825 1.111725 184.665 110.0129 0.7864966 184.8522 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58.57274 72.02675 4.114257 58.48613 72.16161 4.023625 59.30918 71.55426 4.496411 59.61399 71.52541 4.726771 65.14329 38.23482 2.843178 64.86 38.1163 2.838599 64.55292 38.12125 2.836982 64.27356 38.24881 2.838599 64.06874 38.47761 2.843178 64.10794 38.39253 3.335564 64.25658 38.20087 3.342229 64.45331 38.08913 3.231582 64.70118 38.04199 3.159934 64.96273 38.06431 3.158521 65.15996 38.20891 3.043423 65.19929 38.13501 3.227716 64.87623 37.90802 3.383216 65.09896 37.92291 3.393074 65.22903 37.72415 3.532492 65.33292 37.8681 3.496625 65.41738 37.69472 3.561731 65.25839 38.01855 3.382547 65.5913 37.3302 3.530595 65.50564 37.51099 3.57329 69.52979 47.38739 7.377068 69.92542 47.43288 7.225664 69.99567 47.55928 7.461472 70.31831 47.42181 7.377068 70.43406 47.67006 7.646226 69.82225 47.68286 7.590447 69.89692 47.92848 7.712422 70.59095 48.00648 7.744536 70.13123 48.13687 7.744536 69.65383 48.11603 7.744536 69.20723 47.94607 7.744536 69.39284 47.62459 7.646226 71.10584 47.20857 7.54853 70.97029 47.07542 7.303275 74.1805 45.53889 5.247621 74.27893 45.36368 4.826294 74.40351 45.28572 4.859162 74.4517 45.11111 4.575549 74.5609 44.97822 4.570621 74.50141 44.81933 4.272328 74.59599 44.6336 4.301837 74.43281 44.5054 3.983999 74.48052 44.33774 4.061648 74.29402 44.22414 3.860487 74.40946 44.07271 4.026853 74.18721 43.99109 3.924676 74.33996 43.74835 4.070874 74.59437 44.02911 4.140829 74.70333 43.87343 4.160669 74.51657 43.47949 4.083496 74.89056 43.82327 4.175464 74.99878 44.2016 4.342283 75.17904 44.13245 4.313405 75.18478 44.55424 4.555073 75.0912 45.0477 4.892196 74.79099 45.51349 5.286161 74.36804 45.64714 5.459578 74.76271 45.33621 5.129197 74.50721 45.43315 5.193803 74.54225 45.28636 4.99882 74.74579 45.12263 4.904112 74.68667 44.92781 4.657367 74.85684 44.74731 4.613451 74.73828 44.58154 4.418506 74.83206 44.31306 4.33962 74.62613 44.312 4.205279 75.02352 44.6255 4.586362 74.93122 44.98443 4.833648 74.41543 45.07043 4.364737 74.42962 44.7583 3.997971 74.36508 44.5397 3.790013 74.24562 44.34724 3.653747 74.08644 44.16299 3.671838 74.92826 43.63052 4.097572 74.50351 45.2325 4.882129 66.97805 39.46223 3.131156 67.47208 39.72534 3.319916 67.34841 39.46364 3.504675 69.68265 41.16882 3.523309 69.74979 41.00436 3.705922 71.98455 42.63882 3.726758 72.07357 42.45291 3.890209 71.91422 42.75166 3.507308 69.61849 41.25287 3.279585 67.61322 39.39029 3.65629 67.79599 39.24254 3.722246 67.81538 39.00581 3.711274 69.57049 39.99032 3.763217 72.31115 41.91997 3.947673 72.69016 42.41901 4.00506 70.19591 40.71857 3.865662 71.825 42.03947 3.947314 69.82244 40.78464 3.818021 53.15433 59.72705 7.744536 53.03748 59.26385 7.744536 52.82829 56.86899 7.744536 48.93836 60.51311 7.744536 53.02344 55.989 7.744536 58.2792 46.88576 7.744536 58.45755 46.63876 7.744536 58.68214 46.43292 7.744536 58.94372 46.27675 7.744536 61.5819 45.13008 7.744536 62.05912 45.15088 7.744536 62.5056 45.32078 7.744536 66.57001 47.66736 7.744536 72.45143 51.15088 7.744536 66.94039 47.96908 7.744536 71.97421 51.13008 7.744536 67.19702 48.37196 7.744536 71.51464 51.26048 7.744536 67.31387 48.83516 7.744536 69.33602 52.27675 7.744536 67.52306 51.23003 7.744536 67.51859 51.53465 7.744536 72.94166 50.13191 7.744536 72.40181 49.59952 7.744536 72.19138 48.87211 7.744536 79.02391 53.64349 7.744536 76.96231 53.66736 7.744536 83.29022 57.32078 7.744536 82.78336 55.81401 7.744536 82.41304 55.51236 7.744536 79.75489 53.84482 7.744536 82.15641 55.10954 7.744536 82.03952 54.64642 7.744536 80.49005 53.66336 7.744536 86.68261 58.06525 7.744536 87.35462 59.66736 7.744536 90.43537 60.2319 7.744536 87.72499 59.96908 7.744536 93.23604 63.15088 7.744536 92.75881 63.13008 7.744536 87.98162 60.37196 7.744536 92.29924 63.26048 7.744536 88.09848 60.83516 7.744536 90.12064 64.27675 7.744536 88.30767 63.23003 7.744536 88.3032 63.53465 7.744536 87.12902 58.23514 7.744536 89.89553 59.69952 7.744536 87.60618 58.25597 7.744536 88.0657 58.12564 7.744536 89.68509 58.97211 7.744536 93.68252 63.32078 7.744536 96.51761 63.7435 7.744536 97.74693 65.66736 7.744536 100.2771 65.91402 7.744536 98.1173 65.96909 7.744536 103.6283 69.15088 7.744536 98.37393 66.37197 7.744536 103.1511 69.13008 7.744536 98.49078 66.83516 7.744536 102.6916 69.26049 7.744536 98.69997 69.23003 7.744536 100.5129 70.27675 7.744536 98.69551 69.53466 7.744536 100.2514 70.43292 7.744536 98.62955 69.83208 7.744536 100.0268 70.63877 7.744536 99.84843 70.88576 7.744536 98.50482 70.11002 7.744536 94.59267 79.989 7.744536 93.24906 79.21326 7.744536 93.07071 79.46025 7.744536 94.46794 80.26696 7.744536 94.40198 80.56436 7.744536 92.84612 79.66609 7.744536 94.39752 80.86899 7.744536 92.58454 79.82227 7.744536 94.6067 83.26386 7.744536 90.40593 80.83853 7.744536 94.72355 83.72705 7.744536 89.94636 80.96894 7.744536 94.98018 84.12995 7.744536 89.46914 80.94814 7.744536 90.50135 82.84609 7.744536 89.02266 80.77825 7.744536 86.74188 80.67555 7.744536 84.95825 78.43166 7.744536 80.65964 77.16397 7.744536 84.58788 78.12995 7.744536 79.07683 74.94814 7.744536 79.55406 74.96894 7.744536 84.33125 77.72705 7.744536 80.01363 74.83853 7.744536 84.2144 77.26386 7.744536 82.19223 73.82227 7.744536 84.00521 74.86899 7.744536 84.00968 74.56436 7.744536 99.90675 65.61235 7.744536 97.2486 63.94482 7.744536 99.65013 65.20955 7.744536 99.53324 64.74643 7.744536 97.98377 63.76335 7.744536 104.0748 69.32079 7.744536 104.1763 68.16526 7.744536 107.9291 70.33191 7.744536 104.6227 68.33513 7.744536 107.3892 69.79952 7.744536 105.0999 68.35597 7.744536 105.5594 68.22565 7.744536 107.1788 69.07212 7.744536 108.1392 71.66736 7.744536 114.0113 73.84349 7.744536 114.4671 75.32079 7.744536 117.7708 76.01403 7.744536 118.5315 77.66736 7.744536 121.67 78.26526 7.744536 118.9019 77.96909 7.744536 124.413 81.15088 7.744536 123.9357 81.13008 7.744536 119.1585 78.37197 7.744536 123.4762 81.26049 7.744536 119.2754 78.83516 7.744536 121.2975 82.27675 7.744536 119.4846 81.23003 7.744536 119.4801 81.53466 7.744536 117.4005 75.71236 7.744536 114.7423 74.04482 7.744536 117.1438 75.30954 7.744536 117.027 74.84642 7.744536 115.4775 73.86336 7.744536 122.1165 78.43514 7.744536 125.4228 80.4319 7.744536 124.883 79.89952 7.744536 122.5936 78.45597 7.744536 123.0531 78.32564 7.744536 124.6725 79.17211 7.744536 131.505 83.9435 7.744536 128.9238 83.66736 7.744536 129.2942 83.96909 7.744536 134.8052 87.15088 7.744536 135.2517 87.32079 7.744536 135.2645 86.11402 7.744536 134.8942 85.81237 7.744536 132.236 84.14482 7.744536 134.6375 85.40955 7.744536 134.5206 84.94643 7.744536 132.9712 83.96335 7.744536 139.1637 88.36525 7.744536 139.3161 89.66736 7.744536 142.9165 90.53191 7.744536 139.6865 89.96909 7.744536 145.1976 93.15088 7.744536 144.7203 93.13008 7.744536 139.9431 90.37197 7.744536 144.2608 93.26049 7.744536 140.06 90.83516 7.744536 142.0821 94.27675 7.744536 140.2692 93.23003 7.744536 140.2647 93.53466 7.744536 139.6101 88.53514 7.744536 142.3766 89.99951 7.744536 140.0873 88.55597 7.744536 140.5468 88.42565 7.744536 142.1662 89.27211 7.744536 145.644 93.32079 7.744536 148.9987 94.04349 7.744536 149.7084 95.66736 7.744536 152.7582 96.21402 7.744536 150.0788 95.96909 7.744536 155.5899 99.15088 7.744536 155.1126 99.13008 7.744536 150.3354 96.37197 7.744536 154.6531 99.26049 7.744536 150.4523 96.83516 7.744536 152.4745 100.2768 7.744536 150.6615 99.23003 7.744536 150.657 99.53466 7.744536 152.3879 95.91236 7.744536 149.7297 94.24481 7.744536 152.1313 95.50955 7.744536 152.0144 95.04644 7.744536 150.4649 94.06336 7.744536 156.0363 99.32079 7.744536 156.6575 98.46526 7.744536 160.4102 100.6319 7.744536 157.1039 98.63513 7.744536 159.8704 100.0995 7.744536 157.581 98.65598 7.744536 158.0405 98.52564 7.744536 159.6599 99.37212 7.744536 160.1007 101.6674 7.744536 166.4925 104.1435 7.744536 166.4286 105.3208 7.744536 170.2519 106.314 7.744536 170.493 107.6674 7.744536 174.1512 108.5652 7.744536 170.8634 107.9691 7.744536 176.3745 111.1509 7.744536 175.8972 111.1301 7.744536 171.1201 108.372 7.744536 175.4377 111.2605 7.744536 171.2369 108.8352 7.744536 173.2591 112.2768 7.744536 171.4461 111.23 7.744536 171.4416 111.5347 7.744536 169.8816 106.0124 7.744536 167.2234 104.3448 7.744536 169.625 105.6095 7.744536 169.5081 105.1464 7.744536 167.9586 104.1634 7.744536 174.5976 108.7351 7.744536 177.9039 110.7319 7.744536 177.3641 110.1995 7.744536 175.0747 108.756 7.744536 175.5343 108.6256 7.744536 177.1537 109.4721 7.744536 183.9862 114.2435 7.744536 180.8854 113.6674 7.744536 181.2557 113.9691 7.744536 186.7668 117.1509 7.744536 187.2133 117.3208 7.744536 187.7389 116.4101 7.744536 187.3686 116.1085 7.744536 184.6644 114.4432 7.744536 187.112 115.7057 7.744536 185.3579 114.3104 7.744536 186.9951 115.2426 7.744536 186.9266 114.4598 7.744536 185.9132 113.8747 7.744536 191.836 118.7756 7.744536 191.5586 118.9813 7.744536 191.2842 119.191 7.744536 191.0128 119.4046 7.744536 190.9493 119.4778 7.744536 186.2895 117.1301 7.744536 181.5124 114.372 7.744536 185.83 117.2605 7.744536 181.6292 114.8352 7.744536 183.6514 118.2768 7.744536 181.8384 117.23 7.744536 181.8339 117.5347 7.744536 183.3898 118.4329 7.744536 181.768 117.8321 7.744536 183.1652 118.6388 7.744536 181.6432 118.11 7.744536 182.9868 118.8858 7.744536 177.7311 127.989 7.744536 176.3875 127.2133 7.744536 176.2091 127.4603 7.744536 177.6064 128.2669 7.744536 175.9845 127.6661 7.744536 177.5404 128.5644 7.744536 175.723 127.8223 7.744536 177.5359 128.869 7.744536 177.7451 131.2639 7.744536 173.5444 128.8385 7.744536 177.862 131.727 7.744536 173.0848 128.9689 7.744536 178.1186 132.1299 7.744536 172.6076 128.9481 7.744536 174.2104 131.1755 7.744536 172.1611 128.7782 7.744536 168.1282 127.664 7.744536 168.0967 126.4317 7.744536 164.3754 125.4973 7.744536 167.7263 126.1299 7.744536 162.2153 122.9481 7.744536 162.6925 122.9689 7.744536 167.4697 125.7271 7.744536 163.152 122.8385 7.744536 167.3528 125.2639 7.744536 165.3307 121.8223 7.744536 167.1436 122.869 7.744536 167.1481 122.5644 7.744536 178.489 132.4317 7.744536 177.9632 133.3422 7.744536 177.5168 133.1723 7.744536 174.7225 131.6631 7.744536 177.0396 133.1515 7.744536 174.9543 132.33 7.744536 176.5801 133.2818 7.744536 175.8679 133.6139 7.744536 174.8545 133.0288 7.744536 182.225 134.5887 7.744536 182.1933 134.6802 7.744536 182.1441 135.022 7.744536 182.0997 135.3646 7.744536 182.0603 135.7077 7.744536 164.7458 125.799 7.744536 167.3972 127.4626 7.744536 165.0024 126.2018 7.744536 165.1193 126.6649 7.744536 166.662 127.6441 7.744536 165.2045 127.6394 7.744536 166.1099 128.1622 7.744536 161.7688 122.7782 7.744536 160.4762 123.2461 7.744536 157.7044 120.4317 7.744536 156.7167 121.0756 7.744536 151.3765 116.7782 7.744536 150.6345 117.564 7.744536 147.3121 114.4317 7.744536 146.8817 115.3973 7.744536 142.9825 113.1461 7.744536 146.9417 114.1299 7.744536 141.4306 110.9481 7.744536 140.9842 110.7782 7.744536 139.223 110.9756 7.744536 142.5361 112.9762 7.744536 139.7629 111.508 7.744536 142.0589 112.9554 7.744536 141.5994 113.0857 7.744536 139.9733 112.2354 7.744536 140.7128 113.4991 7.744536 139.8007 112.9725 7.744536 160.0298 123.0762 7.744536 157.2566 121.608 7.744536 159.5526 123.0554 7.744536 159.0931 123.1857 7.744536 157.467 122.3354 7.744536 158.2065 123.5991 7.744536 157.2944 123.0725 7.744536 151.8229 116.9481 7.744536 157.334 120.1299 7.744536 152.3002 116.9689 7.744536 157.0774 119.7271 7.744536 152.7597 116.8385 7.744536 156.9605 119.2639 7.744536 156.7513 116.869 7.744536 147.2521 115.699 7.744536 149.9035 117.3627 7.744536 147.5087 116.1018 7.744536 147.6256 116.5649 7.744536 149.1683 117.5441 7.744536 147.7108 117.5394 7.744536 148.6162 118.0622 7.744536 136.9198 108.4317 7.744536 133.1408 107.464 7.744536 136.5494 108.1299 7.744536 131.0383 104.9481 7.744536 131.5156 104.9689 7.744536 136.2928 107.7271 7.744536 131.9751 104.8385 7.744536 136.1759 107.2639 7.744536 134.1537 103.8223 7.744536 135.9667 104.869 7.744536 135.9712 104.5644 7.744536 132.4098 107.2627 7.744536 129.7583 105.599 7.744536 130.0149 106.0018 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7.020711 82.72611 53.89418 7.020711 82.78621 54.5811 7.020711 82.84456 54.81271 7.023664 82.97287 55.01413 7.023664 83.15814 55.1649 7.020711 87.05738 57.41612 7.020711 87.28059 57.50119 7.023664 87.51916 57.5116 7.023664 87.74893 57.44632 7.020711 100.2198 63.99417 7.020711 100.2799 64.68109 7.020711 100.3383 64.91272 7.023664 100.4666 65.11412 7.023664 100.6518 65.2649 7.020711 104.5511 67.51613 7.020711 104.7743 67.60118 7.023664 105.0129 67.61161 7.023664 105.2426 67.54633 7.020711 79.39868 52.99437 7.020711 79.72525 53.09468 7.040157 80.06127 53.04033 7.05023 80.33774 52.8425 7.048861 80.48645 52.22705 6.191817 80.10665 48.69159 4.180892 79.85095 48.48199 -0.6393867 79.76506 48.34204 -0.3130636 79.78015 48.27371 1.238468 79.87165 48.42743 0.5434833 79.93193 48.42146 1.95064 79.94725 48.57866 0.5928307 80.01038 48.59964 2.022059 79.90966 48.59166 -0.4524846 79.75917 48.14052 3.745558 79.87396 48.28807 2.765305 80.00022 48.38972 3.885252 79.89526 48.25358 3.790733 77.59872 46.71152 3.635469 108.4245 68.35707 6.191817 125.9182 78.45708 6.191817 135.6393 85.46489 7.020711 139.5385 87.71613 7.020711 139.7617 87.8012 7.023664 140.0003 87.8116 7.023664 140.2301 87.74633 7.020711 140.855 87.45491 7.020711 114.1845 98.78041 6.191817 97.17317 90.48632 -0.4600496 97.2689 90.62508 -0.05706644 97.24523 90.70003 1.81883 97.14015 90.53719 0.9523521 97.06658 90.54824 2.643714 97.05044 90.37203 0.9809623 96.97451 90.35517 2.712609 96.86082 90.26311 5.291601 97.09819 90.35825 -0.2930689 97.2654 90.84758 4.855228 97.13347 90.69345 3.647406 96.98424 90.59117 4.975955 97.10742 90.73488 4.884823 103.7402 92.75038 6.191817 79.7644 81.27231 -0.5346003 79.86354 81.40988 -0.1589384 79.84522 81.48162 1.568149 79.73397 81.31912 0.7659445 79.66396 81.3272 2.325508 79.64143 81.1512 0.7883554 79.56909 81.13127 2.395433 79.46065 81.03385 4.796336 79.68669 81.14044 -0.3916178 79.87706 81.62445 4.360737 79.7367 81.47228 3.249816 79.58764 81.36711 4.476851 79.71464 81.51218 4.386728 83.52688 83.52814 4.484075 83.63663 83.43056 0.8083153 83.69785 83.50673 2.296649 83.79608 83.45494 0.5291166 83.88039 83.50498 1.700313 83.97618 83.43003 -0.05912876 84.07576 83.47657 1.662868 84.19044 83.56015 4.920316 84.03425 83.56324 3.636667 83.86911 83.61869 4.620242 83.92338 83.55298 2.972165 83.75561 83.5611 3.387073 83.69531 83.59342 4.526227 86.24649 82.65039 6.191817 62.37226 72.47274 -0.1707944 62.47715 72.6073 0.052073 62.48715 72.6893 1.52879 62.32531 72.53691 1.712957 62.36548 72.69557 3.657756 62.23468 72.54926 3.746775 62.21117 72.3241 1.831783 62.10412 72.21088 4.069982 62.28607 72.33731 0.1316967 62.53231 72.80731 3.635469 64.85008 73.96381 3.745558 64.95806 73.8822 0.5262222 65.01846 73.94965 1.835181 65.11531 73.90525 0.290443 65.19749 73.94847 1.321221 65.29131 73.88137 -0.2225856 65.38812 73.91985 1.298214 65.50106 73.9892 4.180892 65.34801 73.99703 3.034765 65.18642 74.04798 3.885247 65.2395 73.99002 2.441419 65.07521 73.99764 2.795248 65.01603 74.02513 3.790728 68.75277 72.55039 6.191817 59.26058 46.95602 7.020711 59.12977 47.03409 7.021837 59.01747 47.13699 7.021837 58.92832 47.26053 7.020711 53.67257 56.36377 7.020711 53.61016 56.50273 7.021837 53.57718 56.65144 7.021837 53.57499 56.80376 7.020711 53.78418 59.19862 7.020711 53.84251 59.4303 7.023665 53.97082 59.63173 7.023665 54.15611 59.78253 7.020711 58.22051 62.12912 7.020711 82.69221 57.88484 7.023665 82.45359 57.87443 7.023665 82.2238 57.93976 7.020711 178.3993 108.7571 6.191817 167.4566 100.7556 -0.4738326 167.3601 100.6171 -0.07581138 167.3827 100.5428 1.772253 167.4891 100.7056 0.917531 167.5621 100.6951 2.584226 167.5795 100.8714 0.9446788 167.6548 100.8888 2.653296 167.7675 100.982 5.199231 167.5322 100.8846 -0.3119598 167.3602 100.3961 4.763007 167.494 100.5498 3.573209 167.6433 100.6527 4.882695 167.5192 100.5087 4.791785 163.0213 98.05596 4.862975 162.9101 98.16126 0.9554029 162.8483 98.08017 2.53355 162.749 98.13552 0.650805 162.663 98.08162 1.893406 162.5657 98.16051 0.02295875 162.4641 98.10971 1.848193 162.3482 98.01874 5.299658 162.5067 98.01804 3.944442 162.6747 97.96044 4.996251 162.6194 98.03012 3.243093 162.7898 98.02219 3.689926 162.8511 97.9876 4.902702 160.9056 98.65708 6.191817 143.4119 88.55709 6.191817 142.9533 88.99359 7.048861 142.9202 89.33194 7.05023 143.0411 89.65012 7.040157 143.2913 89.88278 7.020711 149.3735 93.39437 7.020711 149.7001 93.49468 7.040157 150.0361 93.44034 7.05023 150.3126 93.2425 7.048861 150.4613 92.62705 6.191817 150.3326 91.42871 5.510217 125.114 103.6952 7.020711 124.8908 103.6102 7.023664 124.6522 103.5997 7.023664 124.4225 103.665 7.020711 123.7975 103.9564 7.020711 138.7276 112.9504 6.191817 139.1862 112.5139 7.048861 139.2193 112.1755 7.05023 139.0984 111.8573 7.040157 138.8482 111.6247 7.020711 132.766 108.1131 7.020711 132.4394 108.0128 7.040157 132.1034 108.0671 7.05023 131.8269 108.265 7.048861 131.6782 108.8804 6.191817 150.2597 118.2131 7.020711 149.9331 118.1128 7.040157 149.5971 118.1671 7.05023 149.3206 118.365 7.048861 149.1719 118.9804 6.191817 160.1014 123.8952 7.020711 159.8782 123.8102 7.023664 159.6396 123.7997 7.023664 159.4099 123.865 7.020711 158.7849 124.1564 7.020711 170.5003 134.1863 4.214984 170.6358 134.1979 2.80757 170.6791 134.2718 4.240148 170.8361 134.2481 2.848579 170.869 134.3098 4.330029 171.0588 134.245 3.052267 174.0494 133.0053 6.973322 174.095 133.1045 7.139814 174.0641 133.3083 7.136661 173.8489 133.2803 6.823468 173.8508 133.4631 6.921591 173.5822 133.5704 6.707075 173.956 133.6222 7.035999 173.6593 133.8932 6.813471 174.0276 133.8603 7.031713 174.235 133.3369 7.321973 174.3332 133.534 7.334391 173.6023 133.3036 6.483788 173.8921 133.0971 6.65868 166.6043 127.966 7.705598 166.3785 128.3442 7.67083 166.691 128.1712 7.592931 166.5714 128.4409 7.516034 166.7712 128.3082 7.434145 166.7211 128.4813 7.299102 166.9115 128.3185 7.250393 167.0158 127.7237 7.714668 166.9743 127.9671 7.611711 167.3039 127.8825 7.61759 167.2756 128.0648 7.449091 167.5969 128.0318 7.511236 167.5502 128.1768 7.275571 167.8079 128.2188 7.384549 167.2964 128.1806 7.224199 167.1038 128.1977 7.293664 166.9626 128.151 7.459346 167.7487 127.693 7.723301 167.9445 127.9822 7.648375 167.6154 127.8525 7.649933 167.3972 127.6921 7.708578 174.0267 131.4938 7.648375 173.8901 131.7303 7.384549 174.7622 132.6707 7.721579 174.7092 132.3654 7.702601 174.6616 132.0041 7.71434 174.5137 132.2832 7.608833 174.4189 131.9732 7.616647 174.337 132.21 7.463685 174.2147 131.9758 7.449558 174.1857 132.1463 7.251766 174.0322 131.9191 7.255866 174.0751 131.7748 7.483546 174.2421 131.7528 7.60458 174.4054 131.6144 7.710807 174.5428 132.5995 7.621827 174.3674 132.5193 7.454096 174.2447 132.5479 7.227193 174.2656 132.3549 7.295897 171.1667 134.9961 5.272019 171.0897 134.6733 5.165623 171.1097 134.4065 4.942337 170.3421 135.2095 4.922356 170.8275 135.2164 5.077369 170.2143 134.6744 4.915384 170.4624 134.992 4.975422 170.0418 134.943 4.926151 170.5019 134.7783 4.939798 170.4716 134.613 4.861575 170.365 134.4315 4.772827 170.6316 134.5144 4.78912 170.738 134.6741 4.94654 170.8907 134.5461 4.917775 170.7531 134.8348 5.030344 170.8732 134.9676 5.113807 170.5834 134.383 4.637375 170.8166 134.4223 4.709753 170.69 134.3127 4.453848 170.9622 134.3446 4.611195 170.4664 134.2583 4.524335 168.3768 134.0052 4.960495 168.5298 133.7694 5.001306 168.6844 133.524 4.928206 168.8018 133.3309 4.761479 168.8577 133.2342 4.604464 168.8875 133.1779 4.442137 167.2555 132.1977 4.649616 167.0039 132.6142 5.040693 166.8322 132.8834 5.051438 167.1541 132.371 4.898132 166.2255 132.331 5.230113 166.4754 132.7198 5.075009 166.4652 132.3857 5.19124 166.7019 132.6295 5.091936 166.738 132.4141 5.104466 166.9328 132.3275 5.002278 167.0599 132.2064 4.858239 167.0518 132.0592 4.765902 167.1308 132.0314 4.560847 166.982 131.8393 4.74336 166.6356 131.8941 5.291551 166.5525 132.1669 5.23635 166.3176 131.9888 5.397947 166.7406 132.1726 5.125368 166.866 132.048 5.018828 166.8567 131.7434 5.068264 166.9377 131.9261 4.898165 166.0502 129.5001 6.813471 166.3683 129.4054 6.707075 166.5893 129.2547 6.483788 166.6164 128.8353 6.783866 166.4494 128.8935 7.011607 166.2068 129.1267 6.99253 165.957 129.0685 7.096082 166.2627 128.7332 7.306901 166.0736 128.6069 7.435524 164.4327 127.4172 7.020711 164.3726 126.7302 7.020711 164.5092 127.4899 7.31174 164.4811 126.7208 7.384549 164.6925 127.5407 7.55225 164.7532 126.6969 7.648375 164.808 129.2625 6.548551 164.6208 129.1544 6.341495 163.1862 130.628 5.194487 163.6418 130.6565 5.333232 164.0409 130.6201 5.510247 163.8649 130.4524 5.460599 164.2499 130.3731 5.688332 164.1222 130.2243 5.615148 164.4447 130.1242 5.872509 164.3796 129.9899 5.829088 164.6006 129.8531 6.068534 164.5414 129.7302 6.026288 164.7022 129.5792 6.264153 164.6585 129.4364 6.264188 164.7825 129.6368 6.318478 164.9172 129.6301 6.420015 164.8087 129.9603 6.182891 164.6051 130.1864 5.962141 164.708 129.9146 6.138831 163.0399 130.0915 5.182631 163.1969 130.3714 5.224665 162.8693 130.3613 5.193349 163.3239 130.2041 5.210489 163.296 130.039 5.135226 163.1894 129.8478 5.040067 163.4221 129.9321 5.05645 163.5924 130.1127 5.235939 163.6262 129.9423 5.108867 163.8335 129.9697 5.263973 163.7667 129.8449 5.04936 163.9841 129.8307 5.248864 163.9203 129.7539 4.987822 164.1179 129.7096 5.240535 164.3061 129.5806 5.466175 164.4448 129.4454 5.757162 164.5329 129.2509 6.001327 164.5261 129.4076 6.003541 164.5892 129.4046 6.153149 164.491 129.6142 5.951913 164.3434 129.8497 5.7707 164.1685 130.0312 5.620395 163.9224 130.0998 5.426368 163.8043 130.2622 5.408111 163.5425 130.3344 5.304311 163.3726 129.7916 4.907889 163.5497 129.8242 4.927529 163.4567 129.7128 4.71511 163.6706 129.7621 4.802096 163.2907 129.6745 4.791521 164.2028 129.7372 5.470839 164.3875 129.5959 5.728352 164.3105 129.7527 5.681343 164.0994 129.9116 5.483973 164.4796 130.413 5.798321 163.4805 130.5122 5.297276 159.9852 128.6722 5.256471 160.1359 128.4349 5.297351 160.2887 128.1883 5.224275 160.4053 127.9947 5.05752 160.4612 127.898 4.900465 160.4913 127.842 4.738089 157.6345 126.115 4.969652 157.3848 126.5326 5.360804 157.2158 126.8035 5.371489 157.5334 126.2883 5.218235 156.9193 124.7003 6.608379 156.7091 124.9855 6.353446 156.9492 124.8781 6.449368 156.7408 125.1973 6.181695 156.9364 125.1199 6.199874 156.7849 125.4626 5.955128 156.9516 125.4286 5.886299 156.8579 125.7207 5.743579 157.0106 125.771 5.6072 156.9345 126.0255 5.562904 157.1645 126.0549 5.403399 157.1076 126.3027 5.426259 157.3214 126.2783 5.321769 157.0658 126.5296 5.415158 156.8119 126.5929 5.40768 156.8241 126.256 5.526105 156.5477 126.1144 5.611336 156.7017 125.8688 5.724273 156.5029 125.7095 5.838503 156.6285 125.5123 5.959441 156.5187 125.3061 6.101766 157.4705 124.7225 6.525622 157.1664 124.8166 6.482657 157.2833 124.6145 6.732677 157.1723 124.9213 6.326952 157.2393 124.959 6.20454 157.4077 124.8452 6.242147 157.3817 124.9222 6.020956 157.2465 125.0698 5.967643 157.2682 125.1606 5.700365 157.1756 125.3241 5.701682 157.2347 125.3945 5.461366 157.195 125.5745 5.450614 157.2843 125.5961 5.196598 157.2889 125.7856 5.229035 157.3927 125.8212 4.993365 157.4348 125.98 5.07212 157.5352 125.9788 4.871895 157.4173 126.1271 5.196358 157.2908 125.9585 5.267136 157.1589 125.7847 5.440903 157.081 125.524 5.673026 157.1079 125.2405 5.921087 157.0577 125.1399 6.102793 158.6837 124.1265 7.31174 158.548 123.9932 7.55225 164.1859 126.2972 7.023664 164.0007 126.1464 7.020711 164.2903 126.3692 7.237084 164.3142 126.4986 7.023664 164.1917 125.8155 7.648375 164.3546 126.238 7.468165 164.0551 126.0521 7.384549 164.5554 126.31 7.594227 164.7117 126.1089 7.713247 160.1559 123.8009 7.384549 160.2925 123.5643 7.648375 159.7584 123.7556 7.237084 159.2484 123.5187 7.648375 159.6879 123.6276 7.468165 159.3638 123.7663 7.384549 159.8621 123.5044 7.594227 159.7869 123.261 7.713247 149.1106 117.866 7.705598 148.8848 118.2442 7.67083 149.1973 118.0712 7.592931 149.0777 118.3409 7.516034 149.2775 118.2082 7.434145 149.2274 118.3813 7.299102 149.4178 118.2185 7.250393 149.5221 117.6237 7.714668 149.4806 117.8671 7.611711 149.8102 117.7825 7.61759 149.7819 117.9648 7.449091 150.1032 117.9318 7.511236 150.0565 118.0768 7.275571 150.3142 118.1188 7.384549 149.8027 118.0806 7.224199 149.61 118.0977 7.293664 149.4689 118.051 7.459346 150.255 117.593 7.723301 150.4508 117.8822 7.648375 150.1217 117.7525 7.649933 149.9035 117.5921 7.708579 157.0025 122.9309 7.670833 156.9109 123.3513 7.414083 156.8022 123.1566 7.40054 156.5773 123.4889 7.131674 156.6046 123.1917 7.177607 156.3525 123.4489 6.937105 156.3677 123.1935 6.852522 156.0885 123.4704 6.707075 156.1085 123.2036 6.483788 156.4006 122.9993 6.670788 156.2213 123.0504 6.191817 156.68 122.6139 7.048861 156.5663 122.8981 6.995606 156.7125 122.7027 7.299095 156.6292 122.9747 7.181828 156.8223 122.8123 7.516085 156.5783 123.7418 7.062344 156.1655 123.7932 6.813471 154.5605 124.5034 5.820885 154.4835 124.1806 5.714488 154.5035 123.9138 5.491202 153.7509 124.7211 5.473974 154.2282 124.7231 5.629016 153.6204 124.1895 5.463706 153.8674 124.502 5.526821 153.4524 124.461 5.474372 153.905 124.2883 5.490896 153.8743 124.1239 5.412121 153.7684 123.9448 5.321135 154.0323 124.0237 5.340482 154.1374 124.182 5.497908 154.2877 124.0534 5.46866 154.1527 124.3424 5.581661 154.2715 124.4744 5.664749 153.9848 123.8934 5.188227 154.2151 123.9302 5.261465 154.0912 123.8223 5.005578 154.3593 123.8517 5.162683 153.8694 123.7714 5.072531 151.2975 123.26 5.49682 151.4458 123.0212 5.537757 151.5968 122.7734 5.464699 151.7126 122.5793 5.297922 151.7684 122.4826 5.140833 151.7989 122.4269 4.978419 149.6729 121.1835 5.17253 149.4246 121.6021 5.563729 149.2578 121.8743 5.574376 149.5719 121.357 5.421155 148.6354 121.3169 5.750581 148.8934 121.7115 5.594792 148.8768 121.3727 5.711452 149.1197 121.6192 5.612645 149.152 121.4014 5.624875 149.3472 121.3138 5.523023 149.474 121.192 5.378936 149.464 121.0443 5.285824 149.5445 121.0173 5.080628 149.3912 120.8225 5.263695 149.0431 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112.4965 7.62332 139.4523 111.8084 7.618561 139.5386 112.1472 7.610685 129.4453 107.2172 7.020711 129.3852 106.5302 7.020711 129.5218 107.2899 7.31174 129.4937 106.5208 7.384549 129.7051 107.3407 7.55225 129.7658 106.4969 7.648375 129.1985 106.0972 7.023664 129.0132 105.9464 7.020711 129.3028 106.1692 7.237084 129.3268 106.2986 7.023664 129.2043 105.6155 7.648375 129.3672 106.038 7.468165 129.0677 105.8521 7.384549 129.568 106.11 7.594227 129.7243 105.9089 7.713247 125.1685 103.6009 7.384549 125.3051 103.3643 7.648375 124.771 103.5556 7.237084 124.261 103.3187 7.648375 124.7005 103.4276 7.468165 124.3764 103.5663 7.384549 124.8747 103.3044 7.594227 124.7995 103.061 7.713247 123.5606 103.7932 7.55225 123.6962 103.9265 7.31174 129.7448 107.933 7.207 129.5577 107.8248 6.999945 128.1813 109.3154 5.862661 128.6552 109.3232 6.020881 129.0557 109.2627 6.212938 128.9129 109.0969 6.177673 129.3211 108.9706 6.446135 129.2235 108.8396 6.398876 129.5452 108.6434 6.698993 129.4461 108.5378 6.629685 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127.8378 19.49454 -206.0493 127.8378 15.49454 -211.3892 131.6085 19.49454 -209.8759 129.9996 19.49454 -208.0717 128.7255 19.49454 -211.774 144.4559 19.49454 -211.774 144.4559 15.49454 -210.5847 143.7923 17.49454 -210.2888 143.6191 19.49454 -208.9717 142.7943 17.49454 -209.0154 142.8234 19.49454 -207.9536 142.0688 19.49454 -209.0154 142.8234 15.49454 -210.2888 143.6191 15.49454 -207.9536 142.0688 15.49454 -207.6273 141.8105 17.49454 -207.1035 141.3553 19.49454 -207.1035 141.3553 15.49454 -206.7872 141.0447 17.49454 -206.4652 140.683 19.49454 -206.4652 140.683 15.49454 -206.2327 140.373 17.49454 -206.0386 140.0517 19.49454 -206.0386 140.0517 15.49454 -205.9071 139.7583 17.49454 -205.8236 139.4616 19.49454 -205.8236 139.4616 15.49454 -205.7956 139.1883 17.49454 -205.8204 138.9126 19.49454 -205.8204 138.9126 15.49454 -205.8958 138.6594 17.49454 -206.0289 138.4048 19.49454 -206.0289 138.4048 15.49454 -206.2077 138.1716 17.49454 -206.4491 137.938 19.49454 -206.4491 137.938 15.49454 -206.7312 137.725 17.49454 -207.081 137.5124 19.49454 -207.081 137.5124 15.49454 -207.4658 137.3198 17.49454 -207.9247 137.1279 19.49454 -207.9247 137.1279 15.49454 -208.4099 136.9562 17.49454 -208.98 136.7845 19.49454 -208.98 136.7845 15.49454 -209.5567 136.6355 17.49454 -210.247 136.4822 19.49454 -210.247 136.4822 15.49454 -210.8811 136.3605 17.49454 -211.7258 136.2211 19.49454 -211.7258 136.2211 15.49454 -212.2887 136.14 17.49454 -213.4162 136.001 19.49454 -213.4162 136.001 15.49454 -212.8206 142.5109 19.49454 -213.4574 140.396 19.49454 -213.6586 138.1964 19.49454 -192.7759 143.1114 19.49454 -192.7759 143.1114 15.49454 -193.9453 142.4132 17.49454 -194.2432 142.2436 19.49454 -195.6161 141.5153 17.49454 -195.5691 141.5386 19.49454 -196.7535 140.9964 19.49454 -195.5691 141.5386 15.49454 -194.2432 142.2436 15.49454 -196.7535 140.9964 15.49454 -197.1403 140.8429 17.49454 -197.7964 140.6169 19.49454 -197.7964 140.6169 15.49454 -198.2235 140.4983 17.49454 -198.6978 140.4003 19.49454 -198.6978 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147.8732 19.49454 -203.4394 127.3308 19.49454 -203.4394 127.3308 15.49454 -203.4593 128.6926 17.49454 -203.4573 129.0354 19.49454 -203.4016 130.5885 17.49454 -203.4049 130.5362 19.49454 -203.2823 131.833 19.49454 -203.4049 130.5362 15.49454 -203.4573 129.0354 15.49454 -203.2823 131.833 15.49454 -203.2218 132.2447 17.49454 -203.0894 132.9259 19.49454 -203.0894 132.9259 15.49454 -202.9786 133.3551 17.49454 -202.8263 133.8149 19.49454 -202.8263 133.8149 15.49454 -202.6741 134.1712 17.49454 -202.493 134.5 19.49454 -202.493 134.5 15.49454 -202.3045 134.7605 17.49454 -202.0894 134.9811 19.49454 -202.0894 134.9811 15.49454 -201.8666 135.1421 17.49454 -201.6156 135.2584 19.49454 -201.6156 135.2584 15.49454 -201.3585 135.3197 17.49454 -201.0715 135.3318 19.49454 -201.0715 135.3318 15.49454 -200.7802 135.2935 17.49454 -200.4571 135.2013 19.49454 -200.4571 135.2013 15.49454 -200.1317 135.0635 17.49454 -199.7726 134.8668 19.49454 -199.7726 134.8668 15.49454 -199.4134 134.6299 17.49454 -199.0178 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146.7634 20.49454 -211.4452 144.9165 20.49454 -210.6649 145.8415 15.49454 -211.2474 145.1711 15.49454 -212.7345 142.7128 20.49454 -213.4808 140.2712 20.49454 -213.644 137.7233 20.49454 -213.2152 135.2065 20.49454 -213.1957 135.1407 15.49454 -212.9064 134.301 15.49454 -212.2175 132.8564 20.49454 -210.7047 130.7997 20.49454 -208.7584 129.1474 20.49454 -206.4835 127.9884 20.49454 -204.0026 127.3853 20.49454 -205.1939 127.5986 15.49454 -204.3221 127.4293 15.49454 -201.4496 127.3706 20.49454 -198.9619 127.945 20.49454 -196.6738 129.0777 20.49454 -207.3989 143.6488 -5.005463 -208.1754 144.0972 -4.466706 -207.2788 144.0972 -5.005463 -207.7271 143.3207 -5.005463 -208.1754 143.2005 -5.005463 -208.6237 143.3207 -5.005463 -208.9519 143.6488 -5.005463 -209.0721 144.0972 -5.005463 -208.9519 144.5455 -5.005463 -208.6237 144.8737 -5.005463 -208.1754 144.9938 -5.005463 -207.7271 144.8737 -5.005463 -207.3989 144.5455 -5.005463 -196.3743 132.0532 -5.005463 -197.1508 132.5016 -4.466706 -196.2542 132.5016 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132.53 -5.005463 -208.7715 132.2018 -5.005463 -190.4525 144.6211 9.794537 -192.1915 143.4773 9.794537 -190.4525 144.6211 11.19454 -192.1915 143.4773 11.19454 -193.5564 142.6399 13.68272 -195.5711 141.5376 13.68272 -197.3648 140.7603 13.68272 -199.0098 140.36 13.68272 -199.8355 140.3901 13.68272 -200.2252 140.5155 13.68272 -200.565 140.7373 13.68272 -200.9969 141.4193 13.68272 -201.1334 142.2345 13.68272 -200.9594 143.9169 13.68272 -200.4395 145.7919 13.68272 -199.635 147.9224 13.68272 -198.9961 149.3907 11.19454 -198.106 151.2722 11.19454 -198.106 151.2722 9.794537 -198.9961 149.3907 9.794537 -191.083 130.8856 9.794537 -192.9431 131.8197 9.794537 -191.083 130.8856 11.19454 -192.9431 131.8197 11.19454 -194.3508 132.583 13.68272 -196.2462 133.7326 13.68272 -197.7762 134.8518 13.68272 -198.971 136.0555 13.68272 -199.3921 136.7707 13.68272 -199.5229 137.5721 13.68272 -199.4203 137.9636 13.68272 -199.2112 138.3157 13.68272 -198.5998 138.8704 13.68272 -197.0625 139.5936 13.68272 -195.1325 140.1055 13.68272 -192.8153 140.4884 13.68272 -191.2242 140.6693 11.19454 -189.1497 140.8392 11.19454 -189.1497 140.8392 9.794537 -191.2242 140.6693 9.794537 -202.0326 152.0349 9.794537 -201.9115 149.957 9.794537 -202.0326 152.0349 11.19454 -201.9115 149.957 11.19454 -201.8688 148.3562 13.68272 -201.9271 145.9738 13.68272 -202.1744 143.9651 13.68272 -202.6821 142.3667 13.68272 -203.1446 141.7033 13.68272 -203.46 141.4564 13.68272 -203.8276 141.3059 13.68272 -204.6217 141.3225 13.68272 -205.3752 141.6288 13.68272 -206.7993 142.695 13.68272 -208.1376 144.0821 13.68272 -209.4828 145.7333 13.68272 -210.435 147.0207 11.19454 -211.6194 148.7324 11.19454 -211.6194 148.7324 9.794537 -210.435 147.0207 9.794537 -214.8737 131.9776 9.794537 -213.1347 133.1215 9.794537 -214.8737 131.9776 11.19454 -213.1347 133.1215 11.19454 -211.7698 133.9589 13.68272 -209.7552 135.0612 13.68272 -207.9614 135.8385 13.68272 -206.3164 136.2387 13.68272 -205.4907 136.2086 13.68272 -205.1011 136.0832 13.68272 -204.7613 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229540 114540 229540 114638 229540 114553 229541 114641 229541 114638 229541 113927 229542 113928 229542 113675 229542 114003 229543 113781 229543 114004 229543 113991 229544 113992 229544 114106 229544 113904 229545 113758 229545 113905 229545 114660 229546 113793 229546 114661 229546 114662 229547 114661 229547 113794 229547 114662 229548 114660 229548 114661 229548 114662 229549 114663 229549 114660 229549 113793 229550 113794 229550 114661 229550 113791 229551 113792 229551 114664 229551 114665 229552 114664 229552 114666 229552 114667 229553 114666 229553 114668 229553 114669 229554 114667 229554 114668 229554 114669 229555 114665 229555 114667 229555 114667 229556 114665 229556 114666 229556 114665 229557 113791 229557 114664 229557 113792 229558 114668 229558 114664 229558 114664 229559 114668 229559 114666 229559 113698 229560 113699 229560 114670 229560 114671 229561 114670 229561 114672 229561 114673 229562 114672 229562 114674 229562 114675 229563 114673 229563 114674 229563 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230207 115125 230207 115014 230208 115126 230208 115002 230208 115002 230209 115126 230209 115127 230209 115127 230210 115126 230210 115128 230210 115129 230211 115128 230211 113483 230211 113484 230212 115129 230212 113483 230212 115127 230213 115128 230213 115129 230213 115058 230214 115048 230214 115130 230214 115130 230215 115048 230215 115131 230215 115132 230216 115131 230216 115133 230216 113558 230217 115133 230217 113557 230217 113558 230218 115132 230218 115133 230218 115130 230219 115131 230219 115132 230219 113688 230220 113687 230220 114861 230220 114861 230221 113687 230221 115134 230221 115134 230222 113687 230222 113686 230222 115135 230223 113686 230223 113477 230223 113475 230224 115135 230224 113477 230224 115134 230225 113686 230225 115135 230225 113474 230226 113472 230226 115136 230226 113475 230227 115136 230227 115135 230227 113475 230228 113474 230228 115136 230228 115137 230229 115138 230229 115139 230229 115137 230230 115140 230230 115138 230230 115137 230231 114890 230231 115140 230231 115140 230232 114890 230232 114887 230232 114861 230233 115140 230233 114887 230233 114861 230234 115134 230234 115140 230234 115140 230235 115134 230235 115138 230235 115138 230236 115134 230236 115135 230236 115136 230237 115138 230237 115135 230237 115136 230238 115139 230238 115138 230238 115136 230239 113472 230239 115139 230239 114991 230240 115113 230240 115141 230240 114991 230241 115141 230241 115142 230241 114991 230242 115142 230242 115143 230242 115113 230243 115112 230243 115141 230243 115141 230244 115112 230244 114890 230244 115137 230245 115141 230245 114890 230245 115137 230246 115142 230246 115141 230246 115137 230247 115139 230247 115142 230247 115142 230248 115139 230248 115144 230248 115143 230249 115142 230249 115144 230249 115139 230250 113472 230250 115144 230250 113470 230251 115145 230251 113472 230251 113472 230252 115145 230252 115144 230252 115144 230253 115145 230253 115146 230253 115143 230254 115146 230254 114991 230254 115143 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230302 115163 230303 115164 230303 115165 230303 115163 230304 115166 230304 115164 230304 115163 230305 114894 230305 115166 230305 115166 230306 114894 230306 114891 230306 114807 230307 115166 230307 114891 230307 114807 230308 115160 230308 115166 230308 115166 230309 115160 230309 115164 230309 115164 230310 115160 230310 115161 230310 115162 230311 115164 230311 115161 230311 115162 230312 115165 230312 115164 230312 115162 230313 113587 230313 115165 230313 114997 230314 115117 230314 115167 230314 114997 230315 115167 230315 115168 230315 114997 230316 115168 230316 115169 230316 115117 230317 115116 230317 115167 230317 115167 230318 115116 230318 114894 230318 115163 230319 115167 230319 114894 230319 115163 230320 115168 230320 115167 230320 115163 230321 115165 230321 115168 230321 115168 230322 115165 230322 115170 230322 115169 230323 115168 230323 115170 230323 115165 230324 113587 230324 115170 230324 113585 230325 115171 230325 113587 230325 113587 230326 115171 230326 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115217 230422 113484 230422 115218 230422 115218 230423 113484 230423 115219 230423 115220 230424 115218 230424 115219 230424 115220 230425 115221 230425 115218 230425 115218 230426 115221 230426 115215 230426 115215 230427 115221 230427 115214 230427 115009 230428 115215 230428 115214 230428 115213 230429 115007 230429 115009 230429 113484 230430 113482 230430 115219 230430 115214 230431 114886 230431 115213 230431 113555 230432 113557 230432 115222 230432 115222 230433 113557 230433 115223 230433 115224 230434 115223 230434 115225 230434 115224 230435 115222 230435 115223 230435 113557 230436 115226 230436 115223 230436 115223 230437 115226 230437 115227 230437 115228 230438 115227 230438 115055 230438 115229 230439 115055 230439 115053 230439 115229 230440 115228 230440 115055 230440 115229 230441 115230 230441 115228 230441 115228 230442 115230 230442 114814 230442 115231 230443 115228 230443 114814 230443 115231 230444 115225 230444 115228 230444 115228 230445 115225 230445 115223 230445 115227 230446 115228 230446 115223 230446 115230 230447 114815 230447 114814 230447 113559 230448 115062 230448 113560 230448 113560 230449 115062 230449 113562 230449 113562 230450 115062 230450 114813 230450 113563 230451 113562 230451 114813 230451 114813 230452 115062 230452 115232 230452 115233 230453 115232 230453 115234 230453 115233 230454 114813 230454 115232 230454 115235 230455 115236 230455 115237 230455 115235 230456 113558 230456 115236 230456 115236 230457 113558 230457 115238 230457 115239 230458 115236 230458 115238 230458 115239 230459 115234 230459 115236 230459 115236 230460 115234 230460 115232 230460 115237 230461 115232 230461 115062 230461 115237 230462 115236 230462 115232 230462 113558 230463 113556 230463 115238 230463 114821 230464 115240 230464 114825 230464 114825 230465 115240 230465 115241 230465 115242 230466 115241 230466 115243 230466 115242 230467 114825 230467 115241 230467 115240 230468 115244 230468 115241 230468 115241 230469 115244 230469 115041 230469 115245 230470 115241 230470 115041 230470 115245 230471 115246 230471 115241 230471 115241 230472 115246 230472 115247 230472 115243 230473 115247 230473 115248 230473 115243 230474 115241 230474 115247 230474 115244 230475 115039 230475 115041 230475 115246 230476 113581 230476 115247 230476 115247 230477 113581 230477 113579 230477 115249 230478 115247 230478 113579 230478 115249 230479 115248 230479 115247 230479 113578 230480 113580 230480 115250 230480 115250 230481 113580 230481 115251 230481 115252 230482 115251 230482 115253 230482 115252 230483 115250 230483 115251 230483 113580 230484 115254 230484 115251 230484 115251 230485 115254 230485 115255 230485 115256 230486 115255 230486 115042 230486 114827 230487 115042 230487 113609 230487 114827 230488 115256 230488 115042 230488 114827 230489 115257 230489 115256 230489 115256 230490 115257 230490 115253 230490 115251 230491 115256 230491 115253 230491 115251 230492 115255 230492 115256 230492 113614 230493 113613 230493 115042 230493 115042 230494 113613 230494 113612 230494 113609 230495 115042 230495 113612 230495 113520 230496 113517 230496 113691 230496 113691 230497 113517 230497 115258 230497 115258 230498 113517 230498 113509 230498 115259 230499 113509 230499 113511 230499 113700 230500 115259 230500 113511 230500 115258 230501 113509 230501 115259 230501 114676 230502 114679 230502 115260 230502 115261 230503 115260 230503 115262 230503 115259 230504 115262 230504 115258 230504 115259 230505 115261 230505 115262 230505 115259 230506 113700 230506 115261 230506 115261 230507 113700 230507 114676 230507 115260 230508 115261 230508 114676 230508 114679 230509 115263 230509 115260 230509 115260 230510 115263 230510 115264 230510 115265 230511 115260 230511 115264 230511 115265 230512 115266 230512 115260 230512 115265 230513 115267 230513 115266 230513 115266 230514 115267 230514 115268 230514 115269 230515 115266 230515 115268 230515 115269 230516 115270 230516 115266 230516 115269 230517 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230541 115283 230541 115284 230541 115277 230542 115275 230542 115284 230542 115279 230543 115285 230543 115280 230543 115280 230544 115285 230544 114675 230544 114674 230545 115280 230545 114675 230545 115282 230546 115272 230546 115274 230546 115274 230547 115272 230547 115273 230547 113681 230548 113683 230548 115273 230548 115273 230549 113683 230549 115275 230549 113476 230550 113681 230550 113473 230550 113473 230551 113681 230551 115272 230551 113471 230552 115272 230552 115282 230552 113468 230553 115282 230553 113699 230553 113468 230554 113471 230554 115282 230554 113473 230555 115272 230555 113471 230555 114660 230556 114663 230556 115286 230556 115287 230557 115286 230557 115288 230557 115289 230558 115288 230558 115290 230558 115289 230559 115287 230559 115288 230559 115289 230560 113793 230560 115287 230560 115287 230561 113793 230561 114660 230561 115286 230562 115287 230562 114660 230562 114663 230563 115291 230563 115286 230563 115286 230564 115291 230564 115292 230564 115293 230565 115286 230565 115292 230565 115293 230566 115294 230566 115286 230566 115293 230567 115295 230567 115294 230567 115294 230568 115295 230568 115296 230568 115297 230569 115294 230569 115296 230569 115297 230570 115298 230570 115294 230570 115297 230571 113738 230571 115298 230571 115298 230572 113738 230572 113734 230572 115299 230573 113734 230573 113736 230573 115290 230574 115299 230574 113736 230574 115290 230575 115288 230575 115299 230575 115299 230576 115288 230576 115294 230576 115298 230577 115299 230577 115294 230577 115298 230578 113734 230578 115299 230578 115294 230579 115288 230579 115286 230579 113553 230580 113550 230580 113736 230580 113736 230581 113550 230581 115290 230581 115290 230582 113550 230582 113542 230582 115289 230583 113542 230583 113544 230583 113793 230584 115289 230584 113544 230584 115290 230585 113542 230585 115289 230585 113792 230586 113583 230586 115300 230586 115300 230587 113583 230587 113586 230587 115301 230588 113586 230588 113588 230588 113726 230589 113588 230589 113591 230589 113726 230590 115301 230590 113588 230590 115300 230591 113586 230591 115301 230591 115301 230592 113726 230592 115302 230592 115303 230593 115302 230593 115304 230593 115305 230594 115304 230594 115306 230594 115307 230595 115305 230595 115306 230595 115307 230596 115308 230596 115305 230596 115305 230597 115308 230597 115309 230597 115310 230598 115309 230598 114668 230598 113792 230599 115310 230599 114668 230599 113792 230600 115300 230600 115310 230600 115310 230601 115300 230601 115303 230601 115305 230602 115303 230602 115304 230602 115305 230603 115310 230603 115303 230603 115305 230604 115309 230604 115310 230604 113730 230605 115304 230605 113728 230605 113730 230606 115311 230606 115304 230606 115304 230607 115311 230607 115312 230607 115306 230608 115304 230608 115312 230608 115308 230609 115313 230609 115309 230609 115309 230610 115313 230610 114669 230610 114668 230611 115309 230611 114669 230611 115300 230612 115301 230612 115303 230612 115303 230613 115301 230613 115302 230613 113726 230614 113728 230614 115302 230614 115302 230615 113728 230615 115304 230615 113395 230616 113394 230616 114837 230616 114837 230617 113394 230617 114853 230617 114853 230618 113394 230618 113399 230618 113400 230619 114853 230619 113399 230619 113400 230620 114856 230620 114853 230620 113400 230621 115314 230621 114856 230621 114856 230622 115314 230622 115315 230622 114855 230623 115315 230623 114859 230623 114855 230624 114856 230624 115315 230624 114854 230625 114860 230625 114857 230625 114857 230626 114860 230626 115316 230626 115317 230627 114857 230627 115316 230627 115317 230628 114858 230628 114857 230628 115317 230629 114838 230629 114858 230629 114858 230630 114838 230630 114841 230630 114794 230631 114805 230631 114797 230631 114797 230632 114805 230632 115318 230632 115319 230633 114797 230633 115318 230633 115319 230634 114795 230634 114797 230634 115319 230635 114783 230635 114795 230635 114795 230636 114783 230636 114786 230636 113408 230637 113407 230637 114782 230637 114782 230638 113407 230638 114798 230638 114798 230639 113407 230639 113412 230639 113413 230640 114798 230640 113412 230640 113413 230641 114799 230641 114798 230641 113413 230642 115320 230642 114799 230642 114799 230643 115320 230643 115321 230643 114796 230644 115321 230644 114804 230644 114796 230645 114799 230645 115321 230645 113514 230646 113516 230646 113701 230646 113701 230647 113516 230647 115322 230647 115322 230648 113516 230648 113515 230648 115323 230649 113515 230649 113513 230649 113711 230650 115323 230650 113513 230650 115322 230651 113515 230651 115323 230651 114678 230652 113701 230652 115324 230652 114679 230653 115324 230653 115325 230653 114679 230654 114678 230654 115324 230654 115323 230655 115326 230655 115322 230655 115323 230656 115327 230656 115326 230656 115323 230657 113711 230657 115327 230657 115327 230658 113711 230658 113795 230658 113797 230659 115327 230659 113795 230659 113797 230660 115328 230660 115327 230660 115327 230661 115328 230661 115326 230661 115326 230662 115328 230662 115325 230662 115324 230663 115326 230663 115325 230663 115324 230664 115322 230664 115326 230664 115324 230665 113701 230665 115322 230665 115263 230666 114679 230666 115329 230666 115329 230667 114679 230667 115325 230667 115328 230668 115329 230668 115325 230668 115328 230669 115330 230669 115329 230669 115328 230670 113797 230670 115330 230670 115330 230671 113797 230671 113790 230671 115263 230672 115329 230672 115264 230672 115264 230673 115329 230673 115331 230673 115265 230674 115331 230674 115332 230674 115267 230675 115332 230675 115268 230675 115267 230676 115265 230676 115332 230676 115329 230677 115330 230677 115331 230677 115331 230678 115330 230678 113789 230678 113788 230679 115331 230679 113789 230679 113788 230680 115332 230680 115331 230680 113788 230681 113786 230681 115332 230681 115332 230682 113786 230682 113785 230682 115333 230683 113785 230683 113784 230683 115334 230684 113784 230684 113783 230684 115334 230685 115333 230685 113784 230685 115334 230686 115335 230686 115333 230686 115333 230687 115335 230687 115269 230687 115268 230688 115333 230688 115269 230688 115268 230689 115332 230689 115333 230689 115333 230690 115332 230690 113785 230690 115330 230691 113790 230691 113789 230691 115335 230692 113693 230692 115269 230692 115265 230693 115264 230693 115331 230693 113783 230694 113782 230694 115334 230694 115334 230695 113782 230695 114099 230695 115335 230696 114099 230696 113692 230696 113693 230697 115335 230697 113692 230697 115334 230698 114099 230698 115335 230698 113721 230699 113469 230699 115336 230699 115336 230700 113469 230700 113479 230700 115337 230701 113479 230701 113480 230701 113698 230702 113480 230702 113478 230702 113698 230703 115337 230703 113480 230703 115336 230704 113479 230704 115337 230704 113724 230705 113721 230705 115338 230705 113722 230706 115338 230706 115339 230706 113722 230707 113724 230707 115338 230707 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+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
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+        <instance_geometry url="#ASY0028-mesh"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/gazebo_models/iris_with_sterovision/meshes/iris_prop_ccw.dae b/gazebo_models/iris_with_sterovision/meshes/iris_prop_ccw.dae
new file mode 100644
index 00000000..eb6fe937
--- /dev/null
+++ b/gazebo_models/iris_with_sterovision/meshes/iris_prop_ccw.dae
@@ -0,0 +1,160 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
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+      <author>Blender User</author>
+      <authoring_tool>Blender 2.73.0 commit date:2015-01-07, commit time:13:17, hash:b4d8fb5</authoring_tool>
+    </contributor>
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+    <modified>2015-01-13T10:39:42</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
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+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">49.13434</xfov>
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+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <YF_dofdist>0</YF_dofdist>
+          <shiftx>0</shiftx>
+          <shifty>0</shifty>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Lamp-light" name="Lamp">
+      <technique_common>
+        <point>
+          <color sid="color">1 1 1</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <adapt_thresh>0.000999987</adapt_thresh>
+          <area_shape>1</area_shape>
+          <area_size>0.1</area_size>
+          <area_sizey>0.1</area_sizey>
+          <area_sizez>1</area_sizez>
+          <atm_distance_factor>1</atm_distance_factor>
+          <atm_extinction_factor>1</atm_extinction_factor>
+          <atm_turbidity>2</atm_turbidity>
+          <att1>0</att1>
+          <att2>1</att2>
+          <backscattered_light>1</backscattered_light>
+          <bias>1</bias>
+          <blue>1</blue>
+          <buffers>1</buffers>
+          <bufflag>0</bufflag>
+          <bufsize>2880</bufsize>
+          <buftype>2</buftype>
+          <clipend>30.002</clipend>
+          <clipsta>1.000799</clipsta>
+          <compressthresh>0.04999995</compressthresh>
+          <dist sid="blender_dist">29.99998</dist>
+          <energy sid="blender_energy">1</energy>
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+          <filtertype>0</filtertype>
+          <flag>0</flag>
+          <gamma sid="blender_gamma">1</gamma>
+          <green>1</green>
+          <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
+          <horizon_brightness>1</horizon_brightness>
+          <mode>8192</mode>
+          <ray_samp>1</ray_samp>
+          <ray_samp_method>1</ray_samp_method>
+          <ray_samp_type>0</ray_samp_type>
+          <ray_sampy>1</ray_sampy>
+          <ray_sampz>1</ray_sampz>
+          <red>1</red>
+          <samp>3</samp>
+          <shadhalostep>0</shadhalostep>
+          <shadow_b sid="blender_shadow_b">0</shadow_b>
+          <shadow_g sid="blender_shadow_g">0</shadow_g>
+          <shadow_r sid="blender_shadow_r">0</shadow_r>
+          <sky_colorspace>0</sky_colorspace>
+          <sky_exposure>1</sky_exposure>
+          <skyblendfac>1</skyblendfac>
+          <skyblendtype>1</skyblendtype>
+          <soft>3</soft>
+          <spotblend>0.15</spotblend>
+          <spotsize>75</spotsize>
+          <spread>1</spread>
+          <sun_brightness>1</sun_brightness>
+          <sun_effect_type>0</sun_effect_type>
+          <sun_intensity>1</sun_intensity>
+          <sun_size>1</sun_size>
+          <type>0</type>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_images/>
+  <library_geometries>
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+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Lamp" name="Lamp" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Lamp-light"/>
+      </node>
+      <node id="EPP1045_A" name="EPP1045_A" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#EPP1045_A-mesh"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/gazebo_models/iris_with_sterovision/meshes/iris_prop_cw.dae b/gazebo_models/iris_with_sterovision/meshes/iris_prop_cw.dae
new file mode 100644
index 00000000..f939111f
--- /dev/null
+++ b/gazebo_models/iris_with_sterovision/meshes/iris_prop_cw.dae
@@ -0,0 +1,160 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.73.0 commit date:2015-01-07, commit time:13:17, hash:b4d8fb5</authoring_tool>
+    </contributor>
+    <created>2015-01-13T10:40:36</created>
+    <modified>2015-01-13T10:40:36</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">49.13434</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <YF_dofdist>0</YF_dofdist>
+          <shiftx>0</shiftx>
+          <shifty>0</shifty>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Lamp-light" name="Lamp">
+      <technique_common>
+        <point>
+          <color sid="color">1 1 1</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <adapt_thresh>0.000999987</adapt_thresh>
+          <area_shape>1</area_shape>
+          <area_size>0.1</area_size>
+          <area_sizey>0.1</area_sizey>
+          <area_sizez>1</area_sizez>
+          <atm_distance_factor>1</atm_distance_factor>
+          <atm_extinction_factor>1</atm_extinction_factor>
+          <atm_turbidity>2</atm_turbidity>
+          <att1>0</att1>
+          <att2>1</att2>
+          <backscattered_light>1</backscattered_light>
+          <bias>1</bias>
+          <blue>1</blue>
+          <buffers>1</buffers>
+          <bufflag>0</bufflag>
+          <bufsize>2880</bufsize>
+          <buftype>2</buftype>
+          <clipend>30.002</clipend>
+          <clipsta>1.000799</clipsta>
+          <compressthresh>0.04999995</compressthresh>
+          <dist sid="blender_dist">29.99998</dist>
+          <energy sid="blender_energy">1</energy>
+          <falloff_type>2</falloff_type>
+          <filtertype>0</filtertype>
+          <flag>0</flag>
+          <gamma sid="blender_gamma">1</gamma>
+          <green>1</green>
+          <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
+          <horizon_brightness>1</horizon_brightness>
+          <mode>8192</mode>
+          <ray_samp>1</ray_samp>
+          <ray_samp_method>1</ray_samp_method>
+          <ray_samp_type>0</ray_samp_type>
+          <ray_sampy>1</ray_sampy>
+          <ray_sampz>1</ray_sampz>
+          <red>1</red>
+          <samp>3</samp>
+          <shadhalostep>0</shadhalostep>
+          <shadow_b sid="blender_shadow_b">0</shadow_b>
+          <shadow_g sid="blender_shadow_g">0</shadow_g>
+          <shadow_r sid="blender_shadow_r">0</shadow_r>
+          <sky_colorspace>0</sky_colorspace>
+          <sky_exposure>1</sky_exposure>
+          <skyblendfac>1</skyblendfac>
+          <skyblendtype>1</skyblendtype>
+          <soft>3</soft>
+          <spotblend>0.15</spotblend>
+          <spotsize>75</spotsize>
+          <spread>1</spread>
+          <sun_brightness>1</sun_brightness>
+          <sun_effect_type>0</sun_effect_type>
+          <sun_intensity>1</sun_intensity>
+          <sun_size>1</sun_size>
+          <type>0</type>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_images/>
+  <library_geometries>
+    <geometry id="EPP1045_B-mesh" name="EPP1045 B">
+      <mesh>
+        <source id="EPP1045_B-mesh-positions">
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4318 2149 4318 2269 4318 2269 4319 2149 4319 2281 4319 2269 4320 2281 4320 2253 4320 2253 4321 2281 4321 2263 4321 2066 4322 2248 4322 2064 4322 2064 4323 2248 4323 2284 4323 2064 4324 2284 4324 2062 4324 2062 4325 2284 4325 2286 4325 2062 4326 2286 4326 2055 4326 2055 4327 2286 4327 2054 4327 2265 4328 2274 4328 2266 4328 2266 4329 2274 4329 2276 4329 2266 4330 2276 4330 2267 4330 2267 4331 2276 4331 2278 4331 2267 4332 2278 4332 2283 4332 2283 4333 2278 4333 2280 4333 2283 4334 2280 4334 2282 4334 2060 4335 2059 4335 2270 4335 2270 4336 2059 4336 2268 4336 2270 4337 2268 4337 2309 4337 2309 4338 2268 4338 2302 4338 2309 4339 2302 4339 2308 4339 2308 4340 2302 4340 2301 4340 2308 4341 2301 4341 2307 4341 2307 4342 2301 4342 2300 4342 2307 4343 2300 4343 2306 4343 2306 4344 2300 4344 2299 4344 2306 4345 2299 4345 2305 4345 2305 4346 2299 4346 2298 4346 2305 4347 2298 4347 2304 4347 2304 4348 2298 4348 2272 4348 2304 4349 2272 4349 2303 4349 2303 4350 2272 4350 2271 4350 2303 4351 2271 4351 2310 4351 2149 4352 2148 4352 2281 4352 2281 4353 2148 4353 2153 4353 2281 4354 2153 4354 2275 4354 2275 4355 2153 4355 2154 4355 2275 4356 2154 4356 2277 4356 2277 4357 2154 4357 2152 4357 2277 4358 2152 4358 2151 4358 2150 4359 2157 4359 2310 4359 2310 4360 2157 4360 2143 4360 2310 4361 2143 4361 2303 4361 2303 4362 2143 4362 2144 4362 2303 4363 2144 4363 2145 4363 2151 4364 2150 4364 2277 4364 2277 4365 2150 4365 2310 4365 2277 4366 2310 4366 2279 4366 2279 4367 2310 4367 2271 4367 2279 4368 2271 4368 2280 4368 2280 4369 2271 4369 2273 4369 2280 4370 2273 4370 2282 4370 2282 4371 2273 4371 2295 4371 2282 4372 2295 4372 2242 4372 2242 4373 2295 4373 2238 4373</p>
+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Lamp" name="Lamp" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Lamp-light"/>
+      </node>
+      <node id="EPP1045_B" name="EPP1045_B" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#EPP1045_B-mesh"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/gazebo_models/iris_with_sterovision/model.config b/gazebo_models/iris_with_sterovision/model.config
new file mode 100644
index 00000000..0a4e0fd2
--- /dev/null
+++ b/gazebo_models/iris_with_sterovision/model.config
@@ -0,0 +1,44 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>Iris with Standoffs and Camera LiftDrag ArduCopter Plugins</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+
+  <author>
+    <name>Fadri Furrer</name>
+    <email>fadri.furrer@mavt.ethz.ch</email>
+  </author>
+  <author>
+    <name>Michael Burri</name>
+  </author>
+  <author>
+    <name>Mina Kamel</name>
+  </author>
+  <author>
+    <name>Janosch Nikolic</name>
+  </author>
+  <author>
+    <name>Markus Achtelik</name>
+  </author>
+
+  <maintainer email="hsu@osrfoundation.org">john hsu</maintainer>
+
+
+  <description>
+    starting with iris_with_standoffs
+    add LiftDragPlugin
+    add ArduCopterPlugin
+    attach gimbal_small_2d model with GimbalSmall2dPlugin
+  </description>
+  <depend>
+    <model>
+      <uri>model://gimbal_small_2d</uri>
+      <version>1.0</version>
+    </model>
+    <model>
+      <uri>model://iris_with_standoffs</uri>
+      <version>1.0</version>
+    </model>
+  </depend>
+</model>
diff --git a/gazebo_models/iris_with_sterovision/model.sdf b/gazebo_models/iris_with_sterovision/model.sdf
new file mode 100644
index 00000000..74dc57e6
--- /dev/null
+++ b/gazebo_models/iris_with_sterovision/model.sdf
@@ -0,0 +1,578 @@
+<?xml version='1.0'?>
+<sdf version='1.5'>
+  <model name='iris'>
+    <pose>0 0 0.194923 0 0 0</pose>
+    <link name='base_link'>
+      <velocity_decay>
+        <linear>0.0</linear>
+        <angular>0.0</angular>
+      </velocity_decay>
+      <inertial>
+        <pose>0 0 0 0 0 0</pose>
+        <mass>1.5</mass>
+        <inertia>
+          <ixx>0.008</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.015</iyy>
+          <iyz>0</iyz>
+          <izz>0.017</izz>
+        </inertia>
+      </inertial>
+      <collision name='base_link_collision'>
+        <pose>0 0 -0.08 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.47 0.47 0.23</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <max_vel>100.0</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>1.0</mu>
+              <mu2>1.0</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name='base_link_visual'>
+        <geometry>
+          <mesh>
+            <uri>model://iris_with_standoffs/meshes/iris.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/DarkGrey</name>
+          </script>
+        </material>
+      </visual>
+
+      <visual name='front_left_leg_visual'>
+        <pose>0.123 0.22 -0.11 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.17</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/FlatBlack</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name='front_right_leg_visual'>
+        <pose>0.123 -0.22 -0.11 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.17</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/FlatBlack</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name='rear_left_leg_visual'>
+        <pose>-0.140 0.21 -0.11 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.17</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/FlatBlack</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name='rear_right_leg_visual'>
+        <pose>-0.140 -0.21 -0.11 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.17</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/FlatBlack</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      
+
+      <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>
+      </sensor>
+
+      
+          </link>
+    
+    <link name='iris/range_link'>
+      <pose>0 0 0 0 -0 0</pose>
+      <sensor name="rangefinder_sensor" type="ray">
+       <pose>0.0 0 -0.23 0 1.570790 0</pose>
+        <ray>
+          <scan>
+            <horizontal>
+              <samples>1</samples>
+              <resolution>1</resolution>
+              <min_angle>0</min_angle>
+              <max_angle>0</max_angle>
+            </horizontal>
+          </scan>
+          <range>
+            <min>0.08</min>
+            <max>15</max>
+            <resolution>0.01</resolution>
+          </range>
+        </ray>
+
+        
+        <plugin name="laser" filename="libRayPlugin.so" />
+        
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+        <visualize>true</visualize>
+      </sensor>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <mass>0.15</mass>
+        <inertia>
+          <ixx>0.0001</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0002</iyy>
+          <iyz>0</iyz>
+          <izz>0.0002</izz>
+        </inertia>
+      </inertial>
+    </link>
+
+    <joint name='iris/range_joint' type='fixed'>
+      <child>iris/range_link</child>
+      <parent>base_link</parent>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+        </ode>
+      </physics>
+    </joint>
+    
+    <link name='iris/ground_truth/odometry_sensorgt_link'>
+      <pose>0 0 0 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <mass>0.15</mass>
+        <inertia>
+          <ixx>0.0001</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0002</iyy>
+          <iyz>0</iyz>
+          <izz>0.0002</izz>
+        </inertia>
+      </inertial>
+    </link>
+    <joint name='iris/ground_truth/odometry_sensorgt_joint' type='revolute'>
+      <child>iris/ground_truth/odometry_sensorgt_link</child>
+      <parent>base_link</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>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+        </ode>
+      </physics>
+    </joint>
+
+    <link name='iris/imu_link'>
+      <inertial>
+        <pose>0 0 0 0 0 0</pose>
+        <mass>0.15</mass>
+        <inertia>
+          <ixx>0.00001</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 0</pose>
+        <always_on>1</always_on>
+        <update_rate>1000.0</update_rate>
+      </sensor>
+    </link>
+    <joint name='iris/imu_joint' type='revolute'>
+      <child>iris/imu_link</child>
+      <parent>base_link</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>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+        </ode>
+      </physics>
+    </joint>
+
+<!--
+    <link name='iris/imugt_link'>
+      <pose>0 0 0 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <mass>1e-02</mass>
+        <inertia>
+          <ixx>0.0002</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0002</iyy>
+          <iyz>0</iyz>
+          <izz>0.0002</izz>
+        </inertia>
+      </inertial>
+    </link>
+    <joint name='iris/imugt_joint' type='revolute'>
+      <child>iris/imugt_link</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>0</lower>
+          <upper>0</upper>
+          <effort>0</effort>
+          <velocity>0</velocity>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+-->
+    <link name='rotor_0'>
+      <pose>0.13 -0.22 0.023 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <mass>0.025</mass>
+        <inertia>
+          <ixx>9.75e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.000166704</iyy>
+          <iyz>0</iyz>
+          <izz>0.000167604</izz>
+        </inertia>
+      </inertial>
+      <collision name='rotor_0_collision'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.005</length>
+            <radius>0.1</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <visual name='rotor_0_visual'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://iris_with_standoffs/meshes/iris_prop_ccw.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Blue</name>
+            <uri>__default__</uri>
+          </script>
+        </material>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+      <self_collide>0</self_collide>
+    </link>
+    <joint name='rotor_0_joint' type='revolute'>
+      <child>rotor_0</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <damping>0.004</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+        </ode>
+      </physics>
+    </joint>
+    <link name='rotor_1'>
+      <pose>-0.13 0.2 0.023 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <mass>0.025</mass>
+        <inertia>
+          <ixx>9.75e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.000166704</iyy>
+          <iyz>0</iyz>
+          <izz>0.000167604</izz>
+        </inertia>
+      </inertial>
+      <collision name='rotor_1_collision'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.005</length>
+            <radius>0.1</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <visual name='rotor_1_visual'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://iris_with_standoffs/meshes/iris_prop_ccw.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/DarkGrey</name>
+            <uri>__default__</uri>
+          </script>
+        </material>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+      <self_collide>0</self_collide>
+    </link>
+    <joint name='rotor_1_joint' type='revolute'>
+      <child>rotor_1</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <damping>0.004</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+        </ode>
+      </physics>
+    </joint>
+    <link name='rotor_2'>
+      <pose>0.13 0.22 0.023 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <mass>0.025</mass>
+        <inertia>
+          <ixx>9.75e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.000166704</iyy>
+          <iyz>0</iyz>
+          <izz>0.000167604</izz>
+        </inertia>
+      </inertial>
+      <collision name='rotor_2_collision'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.005</length>
+            <radius>0.1</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <visual name='rotor_2_visual'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://iris_with_standoffs/meshes/iris_prop_cw.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Blue</name>
+            <uri>__default__</uri>
+          </script>
+        </material>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+      <self_collide>0</self_collide>
+    </link>
+    <joint name='rotor_2_joint' type='revolute'>
+      <child>rotor_2</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <damping>0.004</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+        </ode>
+      </physics>
+    </joint>
+    <link name='rotor_3'>
+      <pose>-0.13 -0.2 0.023 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <mass>0.025</mass>
+        <inertia>
+          <ixx>9.75e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.000166704</iyy>
+          <iyz>0</iyz>
+          <izz>0.000167604</izz>
+        </inertia>
+      </inertial>
+      <collision name='rotor_3_collision'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.005</length>
+            <radius>0.1</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <visual name='rotor_3_visual'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://iris_with_standoffs/meshes/iris_prop_cw.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/DarkGrey</name>
+            <uri>__default__</uri>
+          </script>
+        </material>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+      <self_collide>0</self_collide>
+    </link>
+    <joint name='rotor_3_joint' type='revolute'>
+      <child>rotor_3</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <damping>0.004</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+        </ode>
+      </physics>
+    </joint>
+    <static>0</static>
+  </model>
+</sdf>
+
diff --git a/gazebo_models/sikorsky X2/meshes/iris.dae b/gazebo_models/sikorsky X2/meshes/iris.dae
new file mode 100644
index 00000000..614e6b1b
--- /dev/null
+++ b/gazebo_models/sikorsky X2/meshes/iris.dae	
@@ -0,0 +1,160 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.73.0 commit date:2015-01-07, commit time:13:17, hash:b4d8fb5</authoring_tool>
+    </contributor>
+    <created>2015-01-13T11:25:35</created>
+    <modified>2015-01-13T11:25:35</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">49.13434</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <YF_dofdist>0</YF_dofdist>
+          <shiftx>0</shiftx>
+          <shifty>0</shifty>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Lamp-light" name="Lamp">
+      <technique_common>
+        <point>
+          <color sid="color">1 1 1</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <adapt_thresh>0.000999987</adapt_thresh>
+          <area_shape>1</area_shape>
+          <area_size>0.1</area_size>
+          <area_sizey>0.1</area_sizey>
+          <area_sizez>1</area_sizez>
+          <atm_distance_factor>1</atm_distance_factor>
+          <atm_extinction_factor>1</atm_extinction_factor>
+          <atm_turbidity>2</atm_turbidity>
+          <att1>0</att1>
+          <att2>1</att2>
+          <backscattered_light>1</backscattered_light>
+          <bias>1</bias>
+          <blue>1</blue>
+          <buffers>1</buffers>
+          <bufflag>0</bufflag>
+          <bufsize>2880</bufsize>
+          <buftype>2</buftype>
+          <clipend>30.002</clipend>
+          <clipsta>1.000799</clipsta>
+          <compressthresh>0.04999995</compressthresh>
+          <dist sid="blender_dist">29.99998</dist>
+          <energy sid="blender_energy">1</energy>
+          <falloff_type>2</falloff_type>
+          <filtertype>0</filtertype>
+          <flag>0</flag>
+          <gamma sid="blender_gamma">1</gamma>
+          <green>1</green>
+          <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
+          <horizon_brightness>1</horizon_brightness>
+          <mode>8192</mode>
+          <ray_samp>1</ray_samp>
+          <ray_samp_method>1</ray_samp_method>
+          <ray_samp_type>0</ray_samp_type>
+          <ray_sampy>1</ray_sampy>
+          <ray_sampz>1</ray_sampz>
+          <red>1</red>
+          <samp>3</samp>
+          <shadhalostep>0</shadhalostep>
+          <shadow_b sid="blender_shadow_b">0</shadow_b>
+          <shadow_g sid="blender_shadow_g">0</shadow_g>
+          <shadow_r sid="blender_shadow_r">0</shadow_r>
+          <sky_colorspace>0</sky_colorspace>
+          <sky_exposure>1</sky_exposure>
+          <skyblendfac>1</skyblendfac>
+          <skyblendtype>1</skyblendtype>
+          <soft>3</soft>
+          <spotblend>0.15</spotblend>
+          <spotsize>75</spotsize>
+          <spread>1</spread>
+          <sun_brightness>1</sun_brightness>
+          <sun_effect_type>0</sun_effect_type>
+          <sun_intensity>1</sun_intensity>
+          <sun_size>1</sun_size>
+          <type>0</type>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
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96.51761 63.7435 7.744536 97.74693 65.66736 7.744536 100.2771 65.91402 7.744536 98.1173 65.96909 7.744536 103.6283 69.15088 7.744536 98.37393 66.37197 7.744536 103.1511 69.13008 7.744536 98.49078 66.83516 7.744536 102.6916 69.26049 7.744536 98.69997 69.23003 7.744536 100.5129 70.27675 7.744536 98.69551 69.53466 7.744536 100.2514 70.43292 7.744536 98.62955 69.83208 7.744536 100.0268 70.63877 7.744536 99.84843 70.88576 7.744536 98.50482 70.11002 7.744536 94.59267 79.989 7.744536 93.24906 79.21326 7.744536 93.07071 79.46025 7.744536 94.46794 80.26696 7.744536 94.40198 80.56436 7.744536 92.84612 79.66609 7.744536 94.39752 80.86899 7.744536 92.58454 79.82227 7.744536 94.6067 83.26386 7.744536 90.40593 80.83853 7.744536 94.72355 83.72705 7.744536 89.94636 80.96894 7.744536 94.98018 84.12995 7.744536 89.46914 80.94814 7.744536 90.50135 82.84609 7.744536 89.02266 80.77825 7.744536 86.74188 80.67555 7.744536 84.95825 78.43166 7.744536 80.65964 77.16397 7.744536 84.58788 78.12995 7.744536 79.07683 74.94814 7.744536 79.55406 74.96894 7.744536 84.33125 77.72705 7.744536 80.01363 74.83853 7.744536 84.2144 77.26386 7.744536 82.19223 73.82227 7.744536 84.00521 74.86899 7.744536 84.00968 74.56436 7.744536 99.90675 65.61235 7.744536 97.2486 63.94482 7.744536 99.65013 65.20955 7.744536 99.53324 64.74643 7.744536 97.98377 63.76335 7.744536 104.0748 69.32079 7.744536 104.1763 68.16526 7.744536 107.9291 70.33191 7.744536 104.6227 68.33513 7.744536 107.3892 69.79952 7.744536 105.0999 68.35597 7.744536 105.5594 68.22565 7.744536 107.1788 69.07212 7.744536 108.1392 71.66736 7.744536 114.0113 73.84349 7.744536 114.4671 75.32079 7.744536 117.7708 76.01403 7.744536 118.5315 77.66736 7.744536 121.67 78.26526 7.744536 118.9019 77.96909 7.744536 124.413 81.15088 7.744536 123.9357 81.13008 7.744536 119.1585 78.37197 7.744536 123.4762 81.26049 7.744536 119.2754 78.83516 7.744536 121.2975 82.27675 7.744536 119.4846 81.23003 7.744536 119.4801 81.53466 7.744536 117.4005 75.71236 7.744536 114.7423 74.04482 7.744536 117.1438 75.30954 7.744536 117.027 74.84642 7.744536 115.4775 73.86336 7.744536 122.1165 78.43514 7.744536 125.4228 80.4319 7.744536 124.883 79.89952 7.744536 122.5936 78.45597 7.744536 123.0531 78.32564 7.744536 124.6725 79.17211 7.744536 131.505 83.9435 7.744536 128.9238 83.66736 7.744536 129.2942 83.96909 7.744536 134.8052 87.15088 7.744536 135.2517 87.32079 7.744536 135.2645 86.11402 7.744536 134.8942 85.81237 7.744536 132.236 84.14482 7.744536 134.6375 85.40955 7.744536 134.5206 84.94643 7.744536 132.9712 83.96335 7.744536 139.1637 88.36525 7.744536 139.3161 89.66736 7.744536 142.9165 90.53191 7.744536 139.6865 89.96909 7.744536 145.1976 93.15088 7.744536 144.7203 93.13008 7.744536 139.9431 90.37197 7.744536 144.2608 93.26049 7.744536 140.06 90.83516 7.744536 142.0821 94.27675 7.744536 140.2692 93.23003 7.744536 140.2647 93.53466 7.744536 139.6101 88.53514 7.744536 142.3766 89.99951 7.744536 140.0873 88.55597 7.744536 140.5468 88.42565 7.744536 142.1662 89.27211 7.744536 145.644 93.32079 7.744536 148.9987 94.04349 7.744536 149.7084 95.66736 7.744536 152.7582 96.21402 7.744536 150.0788 95.96909 7.744536 155.5899 99.15088 7.744536 155.1126 99.13008 7.744536 150.3354 96.37197 7.744536 154.6531 99.26049 7.744536 150.4523 96.83516 7.744536 152.4745 100.2768 7.744536 150.6615 99.23003 7.744536 150.657 99.53466 7.744536 152.3879 95.91236 7.744536 149.7297 94.24481 7.744536 152.1313 95.50955 7.744536 152.0144 95.04644 7.744536 150.4649 94.06336 7.744536 156.0363 99.32079 7.744536 156.6575 98.46526 7.744536 160.4102 100.6319 7.744536 157.1039 98.63513 7.744536 159.8704 100.0995 7.744536 157.581 98.65598 7.744536 158.0405 98.52564 7.744536 159.6599 99.37212 7.744536 160.1007 101.6674 7.744536 166.4925 104.1435 7.744536 166.4286 105.3208 7.744536 170.2519 106.314 7.744536 170.493 107.6674 7.744536 174.1512 108.5652 7.744536 170.8634 107.9691 7.744536 176.3745 111.1509 7.744536 175.8972 111.1301 7.744536 171.1201 108.372 7.744536 175.4377 111.2605 7.744536 171.2369 108.8352 7.744536 173.2591 112.2768 7.744536 171.4461 111.23 7.744536 171.4416 111.5347 7.744536 169.8816 106.0124 7.744536 167.2234 104.3448 7.744536 169.625 105.6095 7.744536 169.5081 105.1464 7.744536 167.9586 104.1634 7.744536 174.5976 108.7351 7.744536 177.9039 110.7319 7.744536 177.3641 110.1995 7.744536 175.0747 108.756 7.744536 175.5343 108.6256 7.744536 177.1537 109.4721 7.744536 183.9862 114.2435 7.744536 180.8854 113.6674 7.744536 181.2557 113.9691 7.744536 186.7668 117.1509 7.744536 187.2133 117.3208 7.744536 187.7389 116.4101 7.744536 187.3686 116.1085 7.744536 184.6644 114.4432 7.744536 187.112 115.7057 7.744536 185.3579 114.3104 7.744536 186.9951 115.2426 7.744536 186.9266 114.4598 7.744536 185.9132 113.8747 7.744536 191.836 118.7756 7.744536 191.5586 118.9813 7.744536 191.2842 119.191 7.744536 191.0128 119.4046 7.744536 190.9493 119.4778 7.744536 186.2895 117.1301 7.744536 181.5124 114.372 7.744536 185.83 117.2605 7.744536 181.6292 114.8352 7.744536 183.6514 118.2768 7.744536 181.8384 117.23 7.744536 181.8339 117.5347 7.744536 183.3898 118.4329 7.744536 181.768 117.8321 7.744536 183.1652 118.6388 7.744536 181.6432 118.11 7.744536 182.9868 118.8858 7.744536 177.7311 127.989 7.744536 176.3875 127.2133 7.744536 176.2091 127.4603 7.744536 177.6064 128.2669 7.744536 175.9845 127.6661 7.744536 177.5404 128.5644 7.744536 175.723 127.8223 7.744536 177.5359 128.869 7.744536 177.7451 131.2639 7.744536 173.5444 128.8385 7.744536 177.862 131.727 7.744536 173.0848 128.9689 7.744536 178.1186 132.1299 7.744536 172.6076 128.9481 7.744536 174.2104 131.1755 7.744536 172.1611 128.7782 7.744536 168.1282 127.664 7.744536 168.0967 126.4317 7.744536 164.3754 125.4973 7.744536 167.7263 126.1299 7.744536 162.2153 122.9481 7.744536 162.6925 122.9689 7.744536 167.4697 125.7271 7.744536 163.152 122.8385 7.744536 167.3528 125.2639 7.744536 165.3307 121.8223 7.744536 167.1436 122.869 7.744536 167.1481 122.5644 7.744536 178.489 132.4317 7.744536 177.9632 133.3422 7.744536 177.5168 133.1723 7.744536 174.7225 131.6631 7.744536 177.0396 133.1515 7.744536 174.9543 132.33 7.744536 176.5801 133.2818 7.744536 175.8679 133.6139 7.744536 174.8545 133.0288 7.744536 182.225 134.5887 7.744536 182.1933 134.6802 7.744536 182.1441 135.022 7.744536 182.0997 135.3646 7.744536 182.0603 135.7077 7.744536 164.7458 125.799 7.744536 167.3972 127.4626 7.744536 165.0024 126.2018 7.744536 165.1193 126.6649 7.744536 166.662 127.6441 7.744536 165.2045 127.6394 7.744536 166.1099 128.1622 7.744536 161.7688 122.7782 7.744536 160.4762 123.2461 7.744536 157.7044 120.4317 7.744536 156.7167 121.0756 7.744536 151.3765 116.7782 7.744536 150.6345 117.564 7.744536 147.3121 114.4317 7.744536 146.8817 115.3973 7.744536 142.9825 113.1461 7.744536 146.9417 114.1299 7.744536 141.4306 110.9481 7.744536 140.9842 110.7782 7.744536 139.223 110.9756 7.744536 142.5361 112.9762 7.744536 139.7629 111.508 7.744536 142.0589 112.9554 7.744536 141.5994 113.0857 7.744536 139.9733 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7.744536 129.8769 87.23003 7.744536 129.6677 84.83516 7.744536 133.8684 87.26049 7.744536 129.5508 84.37197 7.744536 134.328 87.13008 7.744536 120.1996 98.77825 7.744536 115.6471 97.36397 7.744536 116.1352 96.43166 7.744536 111.8943 95.19733 7.744536 115.7648 96.12995 7.744536 110.2537 92.94814 7.744536 110.731 92.96894 7.744536 115.5082 95.72705 7.744536 111.1905 92.83853 7.744536 115.3913 95.26386 7.744536 115.1821 92.86899 7.744536 113.3692 91.82227 7.744536 115.1866 92.56436 7.744536 113.6307 91.66609 7.744536 115.2525 92.26696 7.744536 113.8553 91.46025 7.744536 115.3773 91.989 7.744536 114.0337 91.21326 7.744536 119.2894 82.11002 7.744536 120.633 82.88576 7.744536 120.8114 82.63877 7.744536 119.4142 81.83208 7.744536 121.036 82.43292 7.744536 112.2646 95.49898 7.744536 114.9161 97.16265 7.744536 112.5213 95.9018 7.744536 112.6381 96.36492 7.744536 114.1809 97.34412 7.744536 112.7234 97.33942 7.744536 113.6288 97.86215 7.744536 109.8073 92.77825 7.744536 107.9951 92.94609 7.744536 105.7429 90.43166 7.744536 104.2356 90.77556 7.744536 99.41497 86.77825 7.744536 98.15335 87.26398 7.744536 95.35056 84.43166 7.744536 94.40059 85.09732 7.744536 107.5486 92.7762 7.744536 104.7754 91.30796 7.744536 107.0715 92.75537 7.744536 106.612 92.8857 7.744536 104.9859 92.03536 7.744536 105.7254 93.29912 7.744536 104.8133 92.77252 7.744536 99.86145 86.94814 7.744536 105.3725 90.12995 7.744536 100.3387 86.96894 7.744536 105.1159 89.72705 7.744536 104.999 89.26386 7.744536 100.7982 86.83853 7.744536 104.7898 86.86899 7.744536 102.9768 85.82227 7.744536 104.7943 86.56436 7.744536 103.2384 85.66609 7.744536 104.8602 86.26696 7.744536 103.463 85.46025 7.744536 104.985 85.989 7.744536 103.6414 85.21326 7.744536 108.8971 76.11002 7.744536 110.2407 76.88576 7.744536 109.0219 75.83208 7.744536 110.4191 76.63877 7.744536 109.0878 75.53466 7.744536 110.6437 76.43292 7.744536 109.0923 75.23003 7.744536 110.9052 76.27675 7.744536 108.8831 72.83516 7.744536 113.0839 75.26049 7.744536 108.7662 72.37197 7.744536 113.5434 75.13008 7.744536 114.0206 75.15088 7.744536 94.77092 85.39899 7.744536 97.42237 87.06266 7.744536 95.02754 85.80179 7.744536 95.14443 86.26491 7.744536 96.6872 87.24411 7.744536 95.22969 87.23943 7.744536 96.13509 87.76215 7.744536 90.05493 82.67621 7.744536 87.28173 81.20795 7.744536 89.57778 82.65537 7.744536 89.11826 82.78571 7.744536 87.49216 81.93537 7.744536 88.23168 83.19911 7.744536 87.31958 82.67252 7.744536 79.92865 76.96265 7.744536 77.27721 75.29898 7.744536 77.53383 75.7018 7.744536 77.65072 76.16492 7.744536 79.19348 77.14412 7.744536 77.73598 77.13942 7.744536 78.64138 77.66216 7.744536 76.90688 74.99732 7.744536 78.63035 74.77825 7.744536 74.56595 72.43166 7.744536 73.00763 72.74608 7.744536 69.24817 70.57556 7.744536 72.56121 72.57621 7.744536 69.78801 71.10796 7.744536 72.08406 72.55538 7.744536 71.62454 72.6857 7.744536 69.99845 71.83536 7.744536 70.73797 73.09912 7.744536 69.82587 72.57251 7.744536 68.23805 68.77825 7.744536 63.16592 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203.4507 153.0635 -10.00546 202.8337 152.9394 10.49454 200.5128 152.2197 -10.00546 199.9536 151.982 10.49454 197.8069 150.7978 -10.00546 197.3252 150.4645 10.49454 195.4454 148.857 -10.00546 195.0561 148.4489 10.49454 193.5265 146.4777 -10.00546 193.2391 146.0178 10.49454 192.1297 143.7588 -10.00546 191.9487 143.2708 10.49454 191.313 140.8131 -10.00546 191.2377 140.3202 10.49454 191.1105 137.7631 -10.00546 191.1352 137.2869 10.49454 191.6454 134.295 10.49454 192.7474 131.4671 10.49454 194.3961 128.9189 10.49454 196.524 126.7547 10.49454 198.1412 125.5856 -10.00546 199.044 125.0632 10.49454 200.8839 124.236 -10.00546 201.8529 123.9136 10.49454 203.8432 123.4704 -10.00546 204.8357 123.353 10.49454 206.8962 123.3206 -10.00546 207.8703 123.4042 10.49454 209.9162 123.7928 -10.00546 210.8325 124.0653 10.49454 212.7778 124.8675 -10.00546 214.9494 140.4284 -18.2776 214.5829 140.0019 -18.44769 211.1653 138.1333 -18.38642 208.9216 136.62 -18.48683 206.5369 135.4554 -18.39051 203.5883 133.576 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208.2428 127.7564 -16.50546 208.6295 127.8424 -16.50546 212.8838 132.4005 -16.50546 213.9155 133.8771 -16.50546 214.2393 133.4971 -16.50546 213.5309 132.4005 -16.50546 214.0912 132.077 -16.50546 215.203 132.5639 -16.50546 214.8843 132.0869 -16.50546 215.7648 132.3036 -16.18565 215.388 131.7351 -16.18565 215.2017 132.2329 -16.4838 205.944 125.0419 -13.36495 205.8744 125.3566 -13.50118 205.8791 124.7641 -12.80447 205.9251 124.6209 -12.74238 205.9103 124.3008 -12.26612 205.988 124.3 -12.3797 206.0439 124.2996 -12.41857 206.1188 124.8111 -13.16429 206.1097 124.2995 -12.43361 205.8559 124.3017 -11.99456 207.8917 127.452 -16.4674 207.5279 127.5392 -16.41535 207.6078 127.3311 -16.36963 207.3024 127.3561 -16.14414 207.5975 127.1544 -16.22004 207.9262 127.2429 -16.35706 207.9533 127.0786 -16.18565 207.2386 127.8947 -16.13046 207.2922 127.6439 -16.25156 207.4984 127.806 -16.40498 207.1381 127.6359 -15.97598 207.1435 127.9272 -15.75546 206.6535 125.4608 -14.0221 206.4325 125.6142 -14.04546 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0.02295875 162.4641 98.10971 1.848193 162.3482 98.01874 5.299658 162.5067 98.01804 3.944442 162.6747 97.96044 4.996251 162.6194 98.03012 3.243093 162.7898 98.02219 3.689926 162.8511 97.9876 4.902702 160.9056 98.65708 6.191817 143.4119 88.55709 6.191817 142.9533 88.99359 7.048861 142.9202 89.33194 7.05023 143.0411 89.65012 7.040157 143.2913 89.88278 7.020711 149.3735 93.39437 7.020711 149.7001 93.49468 7.040157 150.0361 93.44034 7.05023 150.3126 93.2425 7.048861 150.4613 92.62705 6.191817 150.3326 91.42871 5.510217 125.114 103.6952 7.020711 124.8908 103.6102 7.023664 124.6522 103.5997 7.023664 124.4225 103.665 7.020711 123.7975 103.9564 7.020711 138.7276 112.9504 6.191817 139.1862 112.5139 7.048861 139.2193 112.1755 7.05023 139.0984 111.8573 7.040157 138.8482 111.6247 7.020711 132.766 108.1131 7.020711 132.4394 108.0128 7.040157 132.1034 108.0671 7.05023 131.8269 108.265 7.048861 131.6782 108.8804 6.191817 150.2597 118.2131 7.020711 149.9331 118.1128 7.040157 149.5971 118.1671 7.05023 149.3206 118.365 7.048861 149.1719 118.9804 6.191817 160.1014 123.8952 7.020711 159.8782 123.8102 7.023664 159.6396 123.7997 7.023664 159.4099 123.865 7.020711 158.7849 124.1564 7.020711 170.5003 134.1863 4.214984 170.6358 134.1979 2.80757 170.6791 134.2718 4.240148 170.8361 134.2481 2.848579 170.869 134.3098 4.330029 171.0588 134.245 3.052267 174.0494 133.0053 6.973322 174.095 133.1045 7.139814 174.0641 133.3083 7.136661 173.8489 133.2803 6.823468 173.8508 133.4631 6.921591 173.5822 133.5704 6.707075 173.956 133.6222 7.035999 173.6593 133.8932 6.813471 174.0276 133.8603 7.031713 174.235 133.3369 7.321973 174.3332 133.534 7.334391 173.6023 133.3036 6.483788 173.8921 133.0971 6.65868 166.6043 127.966 7.705598 166.3785 128.3442 7.67083 166.691 128.1712 7.592931 166.5714 128.4409 7.516034 166.7712 128.3082 7.434145 166.7211 128.4813 7.299102 166.9115 128.3185 7.250393 167.0158 127.7237 7.714668 166.9743 127.9671 7.611711 167.3039 127.8825 7.61759 167.2756 128.0648 7.449091 167.5969 128.0318 7.511236 167.5502 128.1768 7.275571 167.8079 128.2188 7.384549 167.2964 128.1806 7.224199 167.1038 128.1977 7.293664 166.9626 128.151 7.459346 167.7487 127.693 7.723301 167.9445 127.9822 7.648375 167.6154 127.8525 7.649933 167.3972 127.6921 7.708578 174.0267 131.4938 7.648375 173.8901 131.7303 7.384549 174.7622 132.6707 7.721579 174.7092 132.3654 7.702601 174.6616 132.0041 7.71434 174.5137 132.2832 7.608833 174.4189 131.9732 7.616647 174.337 132.21 7.463685 174.2147 131.9758 7.449558 174.1857 132.1463 7.251766 174.0322 131.9191 7.255866 174.0751 131.7748 7.483546 174.2421 131.7528 7.60458 174.4054 131.6144 7.710807 174.5428 132.5995 7.621827 174.3674 132.5193 7.454096 174.2447 132.5479 7.227193 174.2656 132.3549 7.295897 171.1667 134.9961 5.272019 171.0897 134.6733 5.165623 171.1097 134.4065 4.942337 170.3421 135.2095 4.922356 170.8275 135.2164 5.077369 170.2143 134.6744 4.915384 170.4624 134.992 4.975422 170.0418 134.943 4.926151 170.5019 134.7783 4.939798 170.4716 134.613 4.861575 170.365 134.4315 4.772827 170.6316 134.5144 4.78912 170.738 134.6741 4.94654 170.8907 134.5461 4.917775 170.7531 134.8348 5.030344 170.8732 134.9676 5.113807 170.5834 134.383 4.637375 170.8166 134.4223 4.709753 170.69 134.3127 4.453848 170.9622 134.3446 4.611195 170.4664 134.2583 4.524335 168.3768 134.0052 4.960495 168.5298 133.7694 5.001306 168.6844 133.524 4.928206 168.8018 133.3309 4.761479 168.8577 133.2342 4.604464 168.8875 133.1779 4.442137 167.2555 132.1977 4.649616 167.0039 132.6142 5.040693 166.8322 132.8834 5.051438 167.1541 132.371 4.898132 166.2255 132.331 5.230113 166.4754 132.7198 5.075009 166.4652 132.3857 5.19124 166.7019 132.6295 5.091936 166.738 132.4141 5.104466 166.9328 132.3275 5.002278 167.0599 132.2064 4.858239 167.0518 132.0592 4.765902 167.1308 132.0314 4.560847 166.982 131.8393 4.74336 166.6356 131.8941 5.291551 166.5525 132.1669 5.23635 166.3176 131.9888 5.397947 166.7406 132.1726 5.125368 166.866 132.048 5.018828 166.8567 131.7434 5.068264 166.9377 131.9261 4.898165 166.0502 129.5001 6.813471 166.3683 129.4054 6.707075 166.5893 129.2547 6.483788 166.6164 128.8353 6.783866 166.4494 128.8935 7.011607 166.2068 129.1267 6.99253 165.957 129.0685 7.096082 166.2627 128.7332 7.306901 166.0736 128.6069 7.435524 164.4327 127.4172 7.020711 164.3726 126.7302 7.020711 164.5092 127.4899 7.31174 164.4811 126.7208 7.384549 164.6925 127.5407 7.55225 164.7532 126.6969 7.648375 164.808 129.2625 6.548551 164.6208 129.1544 6.341495 163.1862 130.628 5.194487 163.6418 130.6565 5.333232 164.0409 130.6201 5.510247 163.8649 130.4524 5.460599 164.2499 130.3731 5.688332 164.1222 130.2243 5.615148 164.4447 130.1242 5.872509 164.3796 129.9899 5.829088 164.6006 129.8531 6.068534 164.5414 129.7302 6.026288 164.7022 129.5792 6.264153 164.6585 129.4364 6.264188 164.7825 129.6368 6.318478 164.9172 129.6301 6.420015 164.8087 129.9603 6.182891 164.6051 130.1864 5.962141 164.708 129.9146 6.138831 163.0399 130.0915 5.182631 163.1969 130.3714 5.224665 162.8693 130.3613 5.193349 163.3239 130.2041 5.210489 163.296 130.039 5.135226 163.1894 129.8478 5.040067 163.4221 129.9321 5.05645 163.5924 130.1127 5.235939 163.6262 129.9423 5.108867 163.8335 129.9697 5.263973 163.7667 129.8449 5.04936 163.9841 129.8307 5.248864 163.9203 129.7539 4.987822 164.1179 129.7096 5.240535 164.3061 129.5806 5.466175 164.4448 129.4454 5.757162 164.5329 129.2509 6.001327 164.5261 129.4076 6.003541 164.5892 129.4046 6.153149 164.491 129.6142 5.951913 164.3434 129.8497 5.7707 164.1685 130.0312 5.620395 163.9224 130.0998 5.426368 163.8043 130.2622 5.408111 163.5425 130.3344 5.304311 163.3726 129.7916 4.907889 163.5497 129.8242 4.927529 163.4567 129.7128 4.71511 163.6706 129.7621 4.802096 163.2907 129.6745 4.791521 164.2028 129.7372 5.470839 164.3875 129.5959 5.728352 164.3105 129.7527 5.681343 164.0994 129.9116 5.483973 164.4796 130.413 5.798321 163.4805 130.5122 5.297276 159.9852 128.6722 5.256471 160.1359 128.4349 5.297351 160.2887 128.1883 5.224275 160.4053 127.9947 5.05752 160.4612 127.898 4.900465 160.4913 127.842 4.738089 157.6345 126.115 4.969652 157.3848 126.5326 5.360804 157.2158 126.8035 5.371489 157.5334 126.2883 5.218235 156.9193 124.7003 6.608379 156.7091 124.9855 6.353446 156.9492 124.8781 6.449368 156.7408 125.1973 6.181695 156.9364 125.1199 6.199874 156.7849 125.4626 5.955128 156.9516 125.4286 5.886299 156.8579 125.7207 5.743579 157.0106 125.771 5.6072 156.9345 126.0255 5.562904 157.1645 126.0549 5.403399 157.1076 126.3027 5.426259 157.3214 126.2783 5.321769 157.0658 126.5296 5.415158 156.8119 126.5929 5.40768 156.8241 126.256 5.526105 156.5477 126.1144 5.611336 156.7017 125.8688 5.724273 156.5029 125.7095 5.838503 156.6285 125.5123 5.959441 156.5187 125.3061 6.101766 157.4705 124.7225 6.525622 157.1664 124.8166 6.482657 157.2833 124.6145 6.732677 157.1723 124.9213 6.326952 157.2393 124.959 6.20454 157.4077 124.8452 6.242147 157.3817 124.9222 6.020956 157.2465 125.0698 5.967643 157.2682 125.1606 5.700365 157.1756 125.3241 5.701682 157.2347 125.3945 5.461366 157.195 125.5745 5.450614 157.2843 125.5961 5.196598 157.2889 125.7856 5.229035 157.3927 125.8212 4.993365 157.4348 125.98 5.07212 157.5352 125.9788 4.871895 157.4173 126.1271 5.196358 157.2908 125.9585 5.267136 157.1589 125.7847 5.440903 157.081 125.524 5.673026 157.1079 125.2405 5.921087 157.0577 125.1399 6.102793 158.6837 124.1265 7.31174 158.548 123.9932 7.55225 164.1859 126.2972 7.023664 164.0007 126.1464 7.020711 164.2903 126.3692 7.237084 164.3142 126.4986 7.023664 164.1917 125.8155 7.648375 164.3546 126.238 7.468165 164.0551 126.0521 7.384549 164.5554 126.31 7.594227 164.7117 126.1089 7.713247 160.1559 123.8009 7.384549 160.2925 123.5643 7.648375 159.7584 123.7556 7.237084 159.2484 123.5187 7.648375 159.6879 123.6276 7.468165 159.3638 123.7663 7.384549 159.8621 123.5044 7.594227 159.7869 123.261 7.713247 149.1106 117.866 7.705598 148.8848 118.2442 7.67083 149.1973 118.0712 7.592931 149.0777 118.3409 7.516034 149.2775 118.2082 7.434145 149.2274 118.3813 7.299102 149.4178 118.2185 7.250393 149.5221 117.6237 7.714668 149.4806 117.8671 7.611711 149.8102 117.7825 7.61759 149.7819 117.9648 7.449091 150.1032 117.9318 7.511236 150.0565 118.0768 7.275571 150.3142 118.1188 7.384549 149.8027 118.0806 7.224199 149.61 118.0977 7.293664 149.4689 118.051 7.459346 150.255 117.593 7.723301 150.4508 117.8822 7.648375 150.1217 117.7525 7.649933 149.9035 117.5921 7.708579 157.0025 122.9309 7.670833 156.9109 123.3513 7.414083 156.8022 123.1566 7.40054 156.5773 123.4889 7.131674 156.6046 123.1917 7.177607 156.3525 123.4489 6.937105 156.3677 123.1935 6.852522 156.0885 123.4704 6.707075 156.1085 123.2036 6.483788 156.4006 122.9993 6.670788 156.2213 123.0504 6.191817 156.68 122.6139 7.048861 156.5663 122.8981 6.995606 156.7125 122.7027 7.299095 156.6292 122.9747 7.181828 156.8223 122.8123 7.516085 156.5783 123.7418 7.062344 156.1655 123.7932 6.813471 154.5605 124.5034 5.820885 154.4835 124.1806 5.714488 154.5035 123.9138 5.491202 153.7509 124.7211 5.473974 154.2282 124.7231 5.629016 153.6204 124.1895 5.463706 153.8674 124.502 5.526821 153.4524 124.461 5.474372 153.905 124.2883 5.490896 153.8743 124.1239 5.412121 153.7684 123.9448 5.321135 154.0323 124.0237 5.340482 154.1374 124.182 5.497908 154.2877 124.0534 5.46866 154.1527 124.3424 5.581661 154.2715 124.4744 5.664749 153.9848 123.8934 5.188227 154.2151 123.9302 5.261465 154.0912 123.8223 5.005578 154.3593 123.8517 5.162683 153.8694 123.7714 5.072531 151.2975 123.26 5.49682 151.4458 123.0212 5.537757 151.5968 122.7734 5.464699 151.7126 122.5793 5.297922 151.7684 122.4826 5.140833 151.7989 122.4269 4.978419 149.6729 121.1835 5.17253 149.4246 121.6021 5.563729 149.2578 121.8743 5.574376 149.5719 121.357 5.421155 148.6354 121.3169 5.750581 148.8934 121.7115 5.594792 148.8768 121.3727 5.711452 149.1197 121.6192 5.612645 149.152 121.4014 5.624875 149.3472 121.3138 5.523023 149.474 121.192 5.378936 149.464 121.0443 5.285824 149.5445 121.0173 5.080628 149.3912 120.8225 5.263695 149.0431 120.874 5.814915 148.9618 121.1507 5.757547 148.725 120.9686 5.921311 149.1511 121.1572 5.646034 149.276 121.0318 5.539481 149.2641 120.7232 5.591629 149.3471 120.9092 5.418801 148.5565 119.4001 6.813471 148.8746 119.3054 6.707075 149.0956 119.1547 6.483788 149.1227 118.7353 6.783866 148.9556 118.7935 7.011607 148.7131 119.0268 6.99253 148.4633 118.9685 7.096082 148.769 118.6332 7.306901 148.5799 118.5069 7.435524 156.533 121.3938 7.648375 156.3964 121.6304 7.384549 156.3419 121.7247 7.020711 156.7493 122.4753 7.231236 156.8712 122.4815 7.45764 156.7771 122.2811 7.299858 156.8565 122.1462 7.467409 156.6988 122.058 7.255819 156.735 121.892 7.453533 156.5439 121.8229 7.259194 156.5895 121.6794 7.485772 156.7635 121.666 7.606259 156.9316 121.5347 7.711234 157.1911 121.9639 7.71474 157.2214 122.356 7.703042 157.2453 122.6903 7.721745 157.0357 122.5965 7.62332 156.5921 121.9574 7.040157 156.7131 122.2755 7.05023 156.946 121.9084 7.618561 157.0323 122.2472 7.610685 147.0155 117.3899 7.31174 146.9874 116.6207 7.384549 147.1988 117.4407 7.55225 147.2595 116.5969 7.648375 146.7966 116.2692 7.237084 146.698 115.7155 7.648375 146.8609 116.138 7.468165 146.5614 115.9521 7.384549 147.0617 116.21 7.594227 147.218 116.0089 7.713247 142.6622 113.7009 7.384549 142.7988 113.4643 7.648375 142.2647 113.6556 7.237084 141.7547 113.4187 7.648375 142.1942 113.5276 7.468165 141.8701 113.6663 7.384549 142.3684 113.4044 7.594227 142.2932 113.161 7.713247 141.0543 113.8932 7.55225 141.1899 114.0265 7.31174 141.2912 114.0564 7.020711 147.2611 118.3691 7.011043 147.0739 118.261 6.803987 145.6776 119.7447 5.663784 146.1552 119.759 5.819275 146.5597 119.7022 6.010579 146.4175 119.5349 5.976102 146.83 119.411 6.244841 146.7327 119.2791 6.197928 147.058 119.0833 6.499319 146.959 118.9772 6.430173 147.1728 118.7583 6.715783 147.1043 118.6095 6.690701 147.3178 118.7407 6.846406 147.3932 118.8763 6.816712 147.1808 119.1568 6.555642 146.9957 119.4689 6.314087 145.5064 119.2086 5.64327 145.6861 119.4937 5.69232 145.3406 119.4816 5.653902 145.8025 119.3291 5.680864 145.7657 119.1594 5.602428 145.653 118.9631 5.500694 145.9125 119.0583 5.535738 146.0659 119.2438 5.718458 146.1689 119.0802 5.645653 146.3818 119.1667 5.870605 146.4135 119.0298 5.794774 146.6372 118.9995 6.038873 146.5718 118.8961 5.84869 146.8126 118.8034 6.197467 146.7749 118.7405 6.063979 146.9466 118.5614 6.386034 146.8301 118.6187 6.048067 146.9774 118.3853 6.429715 145.8573 118.9128 5.37454 146.0608 118.9553 5.43545 145.9699 118.8393 5.187086 146.1968 118.888 5.347829 146.4333 118.853 5.517325 146.6452 118.7781 5.788624 145.7538 118.7897 5.252052 146.3087 118.9557 5.589784 146.0685 119.4491 5.794934 146.3856 119.3339 5.940402 145.9974 119.6239 5.780315 146.6753 119.1324 6.134477 146.8872 118.8763 6.341894 146.9997 118.6172 6.51467 142.7661 118.0512 5.668515 142.912 117.8109 5.709493 143.0612 117.562 5.636448 143.1761 117.3674 5.469655 143.232 117.2707 5.312542 143.2629 117.2153 5.1501 140.7145 115.7436 5.334803 140.4679 116.1632 5.726039 140.3036 116.437 5.736656 140.6137 115.9172 5.583462 139.9343 114.3771 6.921061 139.6345 114.8386 6.53472 139.9424 114.5848 6.739804 139.7467 115.0259 6.395287 139.9631 114.8227 6.502221 139.8859 115.2523 6.187493 140.0595 114.9838 6.280849 140.0461 115.3613 6.017507 140.1696 115.2665 5.937792 140.2191 115.6326 5.784263 140.3155 115.5198 5.681679 140.4763 115.7328 5.562928 140.4754 115.575 5.462805 140.573 115.5684 5.248278 140.5389 114.3463 6.889882 140.2028 114.471 6.815057 140.3517 114.2383 7.096938 140.1859 114.6213 6.614223 140.266 114.6465 6.501063 140.4562 114.4883 6.581735 140.4348 114.568 6.353404 140.298 114.7469 6.261794 140.3259 114.8418 5.989122 140.2532 115.0505 5.939607 140.3335 115.1464 5.641241 140.3109 115.3263 5.685239 140.4194 115.3929 5.437742 140.1821 114.9407 6.185804 140.4005 115.8872 5.678776 140.2209 115.9114 5.773652 140.0688 116.064 5.806498 140.0234 115.6615 5.914066 139.8619 115.6767 5.975788 139.7219 115.4315 6.133706 139.5488 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137.725 17.49454 -207.081 137.5124 19.49454 -207.081 137.5124 15.49454 -207.4658 137.3198 17.49454 -207.9247 137.1279 19.49454 -207.9247 137.1279 15.49454 -208.4099 136.9562 17.49454 -208.98 136.7845 19.49454 -208.98 136.7845 15.49454 -209.5567 136.6355 17.49454 -210.247 136.4822 19.49454 -210.247 136.4822 15.49454 -210.8811 136.3605 17.49454 -211.7258 136.2211 19.49454 -211.7258 136.2211 15.49454 -212.2887 136.14 17.49454 -213.4162 136.001 19.49454 -213.4162 136.001 15.49454 -212.8206 142.5109 19.49454 -213.4574 140.396 19.49454 -213.6586 138.1964 19.49454 -192.7759 143.1114 19.49454 -192.7759 143.1114 15.49454 -193.9453 142.4132 17.49454 -194.2432 142.2436 19.49454 -195.6161 141.5153 17.49454 -195.5691 141.5386 19.49454 -196.7535 140.9964 19.49454 -195.5691 141.5386 15.49454 -194.2432 142.2436 15.49454 -196.7535 140.9964 15.49454 -197.1403 140.8429 17.49454 -197.7964 140.6169 19.49454 -197.7964 140.6169 15.49454 -198.2235 140.4983 17.49454 -198.6978 140.4003 19.49454 -198.6978 140.4003 15.49454 -199.0825 140.354 17.49454 -199.4578 140.3464 19.49454 -199.4578 140.3464 15.49454 -199.7777 140.3793 17.49454 -200.0763 140.4553 19.49454 -200.0763 140.4553 15.49454 -200.3271 140.5678 17.49454 -200.5534 140.7271 19.49454 -200.5534 140.7271 15.49454 -200.735 140.919 17.49454 -200.8889 141.1616 19.49454 -200.8889 141.1616 15.49454 -201.0014 141.433 17.49454 -201.083 141.7588 19.49454 -201.083 141.7588 15.49454 -201.1264 142.1096 17.49454 -201.1357 142.5189 19.49454 -201.1357 142.5189 15.49454 -201.1101 142.9484 17.49454 -201.0469 143.4418 19.49454 -201.0469 143.4418 15.49454 -200.9529 143.9478 17.49454 -200.8166 144.5274 19.49454 -200.8166 144.5274 15.49454 -200.6573 145.1013 17.49454 -200.4449 145.7758 19.49454 -200.4449 145.7758 15.49454 -200.2332 146.3858 17.49454 -199.9316 147.187 19.49454 -199.9316 147.187 15.49454 -199.7204 147.7151 17.49454 -199.277 148.761 19.49454 -199.277 148.761 15.49454 -193.9371 144.9902 19.49454 -195.4503 146.5992 19.49454 -197.2545 147.8732 19.49454 -203.4394 127.3308 19.49454 -203.4394 127.3308 15.49454 -203.4593 128.6926 17.49454 -203.4573 129.0354 19.49454 -203.4016 130.5885 17.49454 -203.4049 130.5362 19.49454 -203.2823 131.833 19.49454 -203.4049 130.5362 15.49454 -203.4573 129.0354 15.49454 -203.2823 131.833 15.49454 -203.2218 132.2447 17.49454 -203.0894 132.9259 19.49454 -203.0894 132.9259 15.49454 -202.9786 133.3551 17.49454 -202.8263 133.8149 19.49454 -202.8263 133.8149 15.49454 -202.6741 134.1712 17.49454 -202.493 134.5 19.49454 -202.493 134.5 15.49454 -202.3045 134.7605 17.49454 -202.0894 134.9811 19.49454 -202.0894 134.9811 15.49454 -201.8666 135.1421 17.49454 -201.6156 135.2584 19.49454 -201.6156 135.2584 15.49454 -201.3585 135.3197 17.49454 -201.0715 135.3318 19.49454 -201.0715 135.3318 15.49454 -200.7802 135.2935 17.49454 -200.4571 135.2013 19.49454 -200.4571 135.2013 15.49454 -200.1317 135.0635 17.49454 -199.7726 134.8668 19.49454 -199.7726 134.8668 15.49454 -199.4134 134.6299 17.49454 -199.0178 134.3285 19.49454 -199.0178 134.3285 15.49454 -198.6266 133.9941 17.49454 -198.1927 133.5862 19.49454 -198.1927 133.5862 15.49454 -197.7753 133.1613 17.49454 -197.2975 132.6401 19.49454 -197.2975 132.6401 15.49454 -196.875 132.1518 17.49454 -196.3319 131.49 19.49454 -196.3319 131.49 15.49454 -195.9803 131.043 17.49454 -195.2962 130.1361 19.49454 -195.2962 130.1361 15.49454 -201.2317 127.397 19.49454 -199.0817 127.903 19.49454 -197.0762 128.8285 19.49454 -194.0788 131.4276 15.49454 -194.7086 130.7075 20.49454 -194.6614 130.7572 15.49454 -193.1722 132.7465 20.49454 -192.1474 135.085 20.49454 -191.6896 137.5967 20.49454 -191.8234 140.1463 20.49454 -192.5415 142.5964 20.49454 -192.1306 141.458 15.49454 -192.4198 142.2977 15.49454 -193.8053 144.8147 20.49454 -195.5466 146.6819 20.49454 -197.6715 148.0971 20.49454 -200.0656 148.9842 20.49454 -200.1323 149.0001 15.49454 -201.0041 149.1695 15.49454 -202.5997 149.2952 20.49454 -205.1372 149.0134 20.49454 -207.5413 148.154 20.49454 -209.6825 146.7634 20.49454 -211.4452 144.9165 20.49454 -210.6649 145.8415 15.49454 -211.2474 145.1711 15.49454 -212.7345 142.7128 20.49454 -213.4808 140.2712 20.49454 -213.644 137.7233 20.49454 -213.2152 135.2065 20.49454 -213.1957 135.1407 15.49454 -212.9064 134.301 15.49454 -212.2175 132.8564 20.49454 -210.7047 130.7997 20.49454 -208.7584 129.1474 20.49454 -206.4835 127.9884 20.49454 -204.0026 127.3853 20.49454 -205.1939 127.5986 15.49454 -204.3221 127.4293 15.49454 -201.4496 127.3706 20.49454 -198.9619 127.945 20.49454 -196.6738 129.0777 20.49454 -207.3989 143.6488 -5.005463 -208.1754 144.0972 -4.466706 -207.2788 144.0972 -5.005463 -207.7271 143.3207 -5.005463 -208.1754 143.2005 -5.005463 -208.6237 143.3207 -5.005463 -208.9519 143.6488 -5.005463 -209.0721 144.0972 -5.005463 -208.9519 144.5455 -5.005463 -208.6237 144.8737 -5.005463 -208.1754 144.9938 -5.005463 -207.7271 144.8737 -5.005463 -207.3989 144.5455 -5.005463 -196.3743 132.0532 -5.005463 -197.1508 132.5016 -4.466706 -196.2542 132.5016 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229540 114540 229540 114638 229540 114553 229541 114641 229541 114638 229541 113927 229542 113928 229542 113675 229542 114003 229543 113781 229543 114004 229543 113991 229544 113992 229544 114106 229544 113904 229545 113758 229545 113905 229545 114660 229546 113793 229546 114661 229546 114662 229547 114661 229547 113794 229547 114662 229548 114660 229548 114661 229548 114662 229549 114663 229549 114660 229549 113793 229550 113794 229550 114661 229550 113791 229551 113792 229551 114664 229551 114665 229552 114664 229552 114666 229552 114667 229553 114666 229553 114668 229553 114669 229554 114667 229554 114668 229554 114669 229555 114665 229555 114667 229555 114667 229556 114665 229556 114666 229556 114665 229557 113791 229557 114664 229557 113792 229558 114668 229558 114664 229558 114664 229559 114668 229559 114666 229559 113698 229560 113699 229560 114670 229560 114671 229561 114670 229561 114672 229561 114673 229562 114672 229562 114674 229562 114675 229563 114673 229563 114674 229563 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230207 115125 230207 115014 230208 115126 230208 115002 230208 115002 230209 115126 230209 115127 230209 115127 230210 115126 230210 115128 230210 115129 230211 115128 230211 113483 230211 113484 230212 115129 230212 113483 230212 115127 230213 115128 230213 115129 230213 115058 230214 115048 230214 115130 230214 115130 230215 115048 230215 115131 230215 115132 230216 115131 230216 115133 230216 113558 230217 115133 230217 113557 230217 113558 230218 115132 230218 115133 230218 115130 230219 115131 230219 115132 230219 113688 230220 113687 230220 114861 230220 114861 230221 113687 230221 115134 230221 115134 230222 113687 230222 113686 230222 115135 230223 113686 230223 113477 230223 113475 230224 115135 230224 113477 230224 115134 230225 113686 230225 115135 230225 113474 230226 113472 230226 115136 230226 113475 230227 115136 230227 115135 230227 113475 230228 113474 230228 115136 230228 115137 230229 115138 230229 115139 230229 115137 230230 115140 230230 115138 230230 115137 230231 114890 230231 115140 230231 115140 230232 114890 230232 114887 230232 114861 230233 115140 230233 114887 230233 114861 230234 115134 230234 115140 230234 115140 230235 115134 230235 115138 230235 115138 230236 115134 230236 115135 230236 115136 230237 115138 230237 115135 230237 115136 230238 115139 230238 115138 230238 115136 230239 113472 230239 115139 230239 114991 230240 115113 230240 115141 230240 114991 230241 115141 230241 115142 230241 114991 230242 115142 230242 115143 230242 115113 230243 115112 230243 115141 230243 115141 230244 115112 230244 114890 230244 115137 230245 115141 230245 114890 230245 115137 230246 115142 230246 115141 230246 115137 230247 115139 230247 115142 230247 115142 230248 115139 230248 115144 230248 115143 230249 115142 230249 115144 230249 115139 230250 113472 230250 115144 230250 113470 230251 115145 230251 113472 230251 113472 230252 115145 230252 115144 230252 115144 230253 115145 230253 115146 230253 115143 230254 115146 230254 114991 230254 115143 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230302 115163 230303 115164 230303 115165 230303 115163 230304 115166 230304 115164 230304 115163 230305 114894 230305 115166 230305 115166 230306 114894 230306 114891 230306 114807 230307 115166 230307 114891 230307 114807 230308 115160 230308 115166 230308 115166 230309 115160 230309 115164 230309 115164 230310 115160 230310 115161 230310 115162 230311 115164 230311 115161 230311 115162 230312 115165 230312 115164 230312 115162 230313 113587 230313 115165 230313 114997 230314 115117 230314 115167 230314 114997 230315 115167 230315 115168 230315 114997 230316 115168 230316 115169 230316 115117 230317 115116 230317 115167 230317 115167 230318 115116 230318 114894 230318 115163 230319 115167 230319 114894 230319 115163 230320 115168 230320 115167 230320 115163 230321 115165 230321 115168 230321 115168 230322 115165 230322 115170 230322 115169 230323 115168 230323 115170 230323 115165 230324 113587 230324 115170 230324 113585 230325 115171 230325 113587 230325 113587 230326 115171 230326 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115217 230422 113484 230422 115218 230422 115218 230423 113484 230423 115219 230423 115220 230424 115218 230424 115219 230424 115220 230425 115221 230425 115218 230425 115218 230426 115221 230426 115215 230426 115215 230427 115221 230427 115214 230427 115009 230428 115215 230428 115214 230428 115213 230429 115007 230429 115009 230429 113484 230430 113482 230430 115219 230430 115214 230431 114886 230431 115213 230431 113555 230432 113557 230432 115222 230432 115222 230433 113557 230433 115223 230433 115224 230434 115223 230434 115225 230434 115224 230435 115222 230435 115223 230435 113557 230436 115226 230436 115223 230436 115223 230437 115226 230437 115227 230437 115228 230438 115227 230438 115055 230438 115229 230439 115055 230439 115053 230439 115229 230440 115228 230440 115055 230440 115229 230441 115230 230441 115228 230441 115228 230442 115230 230442 114814 230442 115231 230443 115228 230443 114814 230443 115231 230444 115225 230444 115228 230444 115228 230445 115225 230445 115223 230445 115227 230446 115228 230446 115223 230446 115230 230447 114815 230447 114814 230447 113559 230448 115062 230448 113560 230448 113560 230449 115062 230449 113562 230449 113562 230450 115062 230450 114813 230450 113563 230451 113562 230451 114813 230451 114813 230452 115062 230452 115232 230452 115233 230453 115232 230453 115234 230453 115233 230454 114813 230454 115232 230454 115235 230455 115236 230455 115237 230455 115235 230456 113558 230456 115236 230456 115236 230457 113558 230457 115238 230457 115239 230458 115236 230458 115238 230458 115239 230459 115234 230459 115236 230459 115236 230460 115234 230460 115232 230460 115237 230461 115232 230461 115062 230461 115237 230462 115236 230462 115232 230462 113558 230463 113556 230463 115238 230463 114821 230464 115240 230464 114825 230464 114825 230465 115240 230465 115241 230465 115242 230466 115241 230466 115243 230466 115242 230467 114825 230467 115241 230467 115240 230468 115244 230468 115241 230468 115241 230469 115244 230469 115041 230469 115245 230470 115241 230470 115041 230470 115245 230471 115246 230471 115241 230471 115241 230472 115246 230472 115247 230472 115243 230473 115247 230473 115248 230473 115243 230474 115241 230474 115247 230474 115244 230475 115039 230475 115041 230475 115246 230476 113581 230476 115247 230476 115247 230477 113581 230477 113579 230477 115249 230478 115247 230478 113579 230478 115249 230479 115248 230479 115247 230479 113578 230480 113580 230480 115250 230480 115250 230481 113580 230481 115251 230481 115252 230482 115251 230482 115253 230482 115252 230483 115250 230483 115251 230483 113580 230484 115254 230484 115251 230484 115251 230485 115254 230485 115255 230485 115256 230486 115255 230486 115042 230486 114827 230487 115042 230487 113609 230487 114827 230488 115256 230488 115042 230488 114827 230489 115257 230489 115256 230489 115256 230490 115257 230490 115253 230490 115251 230491 115256 230491 115253 230491 115251 230492 115255 230492 115256 230492 113614 230493 113613 230493 115042 230493 115042 230494 113613 230494 113612 230494 113609 230495 115042 230495 113612 230495 113520 230496 113517 230496 113691 230496 113691 230497 113517 230497 115258 230497 115258 230498 113517 230498 113509 230498 115259 230499 113509 230499 113511 230499 113700 230500 115259 230500 113511 230500 115258 230501 113509 230501 115259 230501 114676 230502 114679 230502 115260 230502 115261 230503 115260 230503 115262 230503 115259 230504 115262 230504 115258 230504 115259 230505 115261 230505 115262 230505 115259 230506 113700 230506 115261 230506 115261 230507 113700 230507 114676 230507 115260 230508 115261 230508 114676 230508 114679 230509 115263 230509 115260 230509 115260 230510 115263 230510 115264 230510 115265 230511 115260 230511 115264 230511 115265 230512 115266 230512 115260 230512 115265 230513 115267 230513 115266 230513 115266 230514 115267 230514 115268 230514 115269 230515 115266 230515 115268 230515 115269 230516 115270 230516 115266 230516 115269 230517 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230541 115283 230541 115284 230541 115277 230542 115275 230542 115284 230542 115279 230543 115285 230543 115280 230543 115280 230544 115285 230544 114675 230544 114674 230545 115280 230545 114675 230545 115282 230546 115272 230546 115274 230546 115274 230547 115272 230547 115273 230547 113681 230548 113683 230548 115273 230548 115273 230549 113683 230549 115275 230549 113476 230550 113681 230550 113473 230550 113473 230551 113681 230551 115272 230551 113471 230552 115272 230552 115282 230552 113468 230553 115282 230553 113699 230553 113468 230554 113471 230554 115282 230554 113473 230555 115272 230555 113471 230555 114660 230556 114663 230556 115286 230556 115287 230557 115286 230557 115288 230557 115289 230558 115288 230558 115290 230558 115289 230559 115287 230559 115288 230559 115289 230560 113793 230560 115287 230560 115287 230561 113793 230561 114660 230561 115286 230562 115287 230562 114660 230562 114663 230563 115291 230563 115286 230563 115286 230564 115291 230564 115292 230564 115293 230565 115286 230565 115292 230565 115293 230566 115294 230566 115286 230566 115293 230567 115295 230567 115294 230567 115294 230568 115295 230568 115296 230568 115297 230569 115294 230569 115296 230569 115297 230570 115298 230570 115294 230570 115297 230571 113738 230571 115298 230571 115298 230572 113738 230572 113734 230572 115299 230573 113734 230573 113736 230573 115290 230574 115299 230574 113736 230574 115290 230575 115288 230575 115299 230575 115299 230576 115288 230576 115294 230576 115298 230577 115299 230577 115294 230577 115298 230578 113734 230578 115299 230578 115294 230579 115288 230579 115286 230579 113553 230580 113550 230580 113736 230580 113736 230581 113550 230581 115290 230581 115290 230582 113550 230582 113542 230582 115289 230583 113542 230583 113544 230583 113793 230584 115289 230584 113544 230584 115290 230585 113542 230585 115289 230585 113792 230586 113583 230586 115300 230586 115300 230587 113583 230587 113586 230587 115301 230588 113586 230588 113588 230588 113726 230589 113588 230589 113591 230589 113726 230590 115301 230590 113588 230590 115300 230591 113586 230591 115301 230591 115301 230592 113726 230592 115302 230592 115303 230593 115302 230593 115304 230593 115305 230594 115304 230594 115306 230594 115307 230595 115305 230595 115306 230595 115307 230596 115308 230596 115305 230596 115305 230597 115308 230597 115309 230597 115310 230598 115309 230598 114668 230598 113792 230599 115310 230599 114668 230599 113792 230600 115300 230600 115310 230600 115310 230601 115300 230601 115303 230601 115305 230602 115303 230602 115304 230602 115305 230603 115310 230603 115303 230603 115305 230604 115309 230604 115310 230604 113730 230605 115304 230605 113728 230605 113730 230606 115311 230606 115304 230606 115304 230607 115311 230607 115312 230607 115306 230608 115304 230608 115312 230608 115308 230609 115313 230609 115309 230609 115309 230610 115313 230610 114669 230610 114668 230611 115309 230611 114669 230611 115300 230612 115301 230612 115303 230612 115303 230613 115301 230613 115302 230613 113726 230614 113728 230614 115302 230614 115302 230615 113728 230615 115304 230615 113395 230616 113394 230616 114837 230616 114837 230617 113394 230617 114853 230617 114853 230618 113394 230618 113399 230618 113400 230619 114853 230619 113399 230619 113400 230620 114856 230620 114853 230620 113400 230621 115314 230621 114856 230621 114856 230622 115314 230622 115315 230622 114855 230623 115315 230623 114859 230623 114855 230624 114856 230624 115315 230624 114854 230625 114860 230625 114857 230625 114857 230626 114860 230626 115316 230626 115317 230627 114857 230627 115316 230627 115317 230628 114858 230628 114857 230628 115317 230629 114838 230629 114858 230629 114858 230630 114838 230630 114841 230630 114794 230631 114805 230631 114797 230631 114797 230632 114805 230632 115318 230632 115319 230633 114797 230633 115318 230633 115319 230634 114795 230634 114797 230634 115319 230635 114783 230635 114795 230635 114795 230636 114783 230636 114786 230636 113408 230637 113407 230637 114782 230637 114782 230638 113407 230638 114798 230638 114798 230639 113407 230639 113412 230639 113413 230640 114798 230640 113412 230640 113413 230641 114799 230641 114798 230641 113413 230642 115320 230642 114799 230642 114799 230643 115320 230643 115321 230643 114796 230644 115321 230644 114804 230644 114796 230645 114799 230645 115321 230645 113514 230646 113516 230646 113701 230646 113701 230647 113516 230647 115322 230647 115322 230648 113516 230648 113515 230648 115323 230649 113515 230649 113513 230649 113711 230650 115323 230650 113513 230650 115322 230651 113515 230651 115323 230651 114678 230652 113701 230652 115324 230652 114679 230653 115324 230653 115325 230653 114679 230654 114678 230654 115324 230654 115323 230655 115326 230655 115322 230655 115323 230656 115327 230656 115326 230656 115323 230657 113711 230657 115327 230657 115327 230658 113711 230658 113795 230658 113797 230659 115327 230659 113795 230659 113797 230660 115328 230660 115327 230660 115327 230661 115328 230661 115326 230661 115326 230662 115328 230662 115325 230662 115324 230663 115326 230663 115325 230663 115324 230664 115322 230664 115326 230664 115324 230665 113701 230665 115322 230665 115263 230666 114679 230666 115329 230666 115329 230667 114679 230667 115325 230667 115328 230668 115329 230668 115325 230668 115328 230669 115330 230669 115329 230669 115328 230670 113797 230670 115330 230670 115330 230671 113797 230671 113790 230671 115263 230672 115329 230672 115264 230672 115264 230673 115329 230673 115331 230673 115265 230674 115331 230674 115332 230674 115267 230675 115332 230675 115268 230675 115267 230676 115265 230676 115332 230676 115329 230677 115330 230677 115331 230677 115331 230678 115330 230678 113789 230678 113788 230679 115331 230679 113789 230679 113788 230680 115332 230680 115331 230680 113788 230681 113786 230681 115332 230681 115332 230682 113786 230682 113785 230682 115333 230683 113785 230683 113784 230683 115334 230684 113784 230684 113783 230684 115334 230685 115333 230685 113784 230685 115334 230686 115335 230686 115333 230686 115333 230687 115335 230687 115269 230687 115268 230688 115333 230688 115269 230688 115268 230689 115332 230689 115333 230689 115333 230690 115332 230690 113785 230690 115330 230691 113790 230691 113789 230691 115335 230692 113693 230692 115269 230692 115265 230693 115264 230693 115331 230693 113783 230694 113782 230694 115334 230694 115334 230695 113782 230695 114099 230695 115335 230696 114099 230696 113692 230696 113693 230697 115335 230697 113692 230697 115334 230698 114099 230698 115335 230698 113721 230699 113469 230699 115336 230699 115336 230700 113469 230700 113479 230700 115337 230701 113479 230701 113480 230701 113698 230702 113480 230702 113478 230702 113698 230703 115337 230703 113480 230703 115336 230704 113479 230704 115337 230704 113724 230705 113721 230705 115338 230705 113722 230706 115338 230706 115339 230706 113722 230707 113724 230707 115338 230707 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+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
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+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Lamp" name="Lamp" type="NODE">
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+        <instance_light url="#Lamp-light"/>
+      </node>
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+        <matrix sid="transform">-4.37108e-11 -9.99987e-4 0 0 9.99987e-4 -4.37108e-11 0 0 0 0 9.99987e-4 0 0 0 0 1</matrix>
+        <instance_geometry url="#ASY0028-mesh"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/gazebo_models/sikorsky X2/meshes/iris_prop_ccw.dae b/gazebo_models/sikorsky X2/meshes/iris_prop_ccw.dae
new file mode 100644
index 00000000..eb6fe937
--- /dev/null
+++ b/gazebo_models/sikorsky X2/meshes/iris_prop_ccw.dae	
@@ -0,0 +1,160 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.73.0 commit date:2015-01-07, commit time:13:17, hash:b4d8fb5</authoring_tool>
+    </contributor>
+    <created>2015-01-13T10:39:42</created>
+    <modified>2015-01-13T10:39:42</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">49.13434</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <YF_dofdist>0</YF_dofdist>
+          <shiftx>0</shiftx>
+          <shifty>0</shifty>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Lamp-light" name="Lamp">
+      <technique_common>
+        <point>
+          <color sid="color">1 1 1</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <adapt_thresh>0.000999987</adapt_thresh>
+          <area_shape>1</area_shape>
+          <area_size>0.1</area_size>
+          <area_sizey>0.1</area_sizey>
+          <area_sizez>1</area_sizez>
+          <atm_distance_factor>1</atm_distance_factor>
+          <atm_extinction_factor>1</atm_extinction_factor>
+          <atm_turbidity>2</atm_turbidity>
+          <att1>0</att1>
+          <att2>1</att2>
+          <backscattered_light>1</backscattered_light>
+          <bias>1</bias>
+          <blue>1</blue>
+          <buffers>1</buffers>
+          <bufflag>0</bufflag>
+          <bufsize>2880</bufsize>
+          <buftype>2</buftype>
+          <clipend>30.002</clipend>
+          <clipsta>1.000799</clipsta>
+          <compressthresh>0.04999995</compressthresh>
+          <dist sid="blender_dist">29.99998</dist>
+          <energy sid="blender_energy">1</energy>
+          <falloff_type>2</falloff_type>
+          <filtertype>0</filtertype>
+          <flag>0</flag>
+          <gamma sid="blender_gamma">1</gamma>
+          <green>1</green>
+          <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
+          <horizon_brightness>1</horizon_brightness>
+          <mode>8192</mode>
+          <ray_samp>1</ray_samp>
+          <ray_samp_method>1</ray_samp_method>
+          <ray_samp_type>0</ray_samp_type>
+          <ray_sampy>1</ray_sampy>
+          <ray_sampz>1</ray_sampz>
+          <red>1</red>
+          <samp>3</samp>
+          <shadhalostep>0</shadhalostep>
+          <shadow_b sid="blender_shadow_b">0</shadow_b>
+          <shadow_g sid="blender_shadow_g">0</shadow_g>
+          <shadow_r sid="blender_shadow_r">0</shadow_r>
+          <sky_colorspace>0</sky_colorspace>
+          <sky_exposure>1</sky_exposure>
+          <skyblendfac>1</skyblendfac>
+          <skyblendtype>1</skyblendtype>
+          <soft>3</soft>
+          <spotblend>0.15</spotblend>
+          <spotsize>75</spotsize>
+          <spread>1</spread>
+          <sun_brightness>1</sun_brightness>
+          <sun_effect_type>0</sun_effect_type>
+          <sun_intensity>1</sun_intensity>
+          <sun_size>1</sun_size>
+          <type>0</type>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_images/>
+  <library_geometries>
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+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Lamp" name="Lamp" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Lamp-light"/>
+      </node>
+      <node id="EPP1045_A" name="EPP1045_A" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#EPP1045_A-mesh"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/gazebo_models/sikorsky X2/meshes/iris_prop_cw.dae b/gazebo_models/sikorsky X2/meshes/iris_prop_cw.dae
new file mode 100644
index 00000000..f939111f
--- /dev/null
+++ b/gazebo_models/sikorsky X2/meshes/iris_prop_cw.dae	
@@ -0,0 +1,160 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.73.0 commit date:2015-01-07, commit time:13:17, hash:b4d8fb5</authoring_tool>
+    </contributor>
+    <created>2015-01-13T10:40:36</created>
+    <modified>2015-01-13T10:40:36</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">49.13434</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <YF_dofdist>0</YF_dofdist>
+          <shiftx>0</shiftx>
+          <shifty>0</shifty>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Lamp-light" name="Lamp">
+      <technique_common>
+        <point>
+          <color sid="color">1 1 1</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <adapt_thresh>0.000999987</adapt_thresh>
+          <area_shape>1</area_shape>
+          <area_size>0.1</area_size>
+          <area_sizey>0.1</area_sizey>
+          <area_sizez>1</area_sizez>
+          <atm_distance_factor>1</atm_distance_factor>
+          <atm_extinction_factor>1</atm_extinction_factor>
+          <atm_turbidity>2</atm_turbidity>
+          <att1>0</att1>
+          <att2>1</att2>
+          <backscattered_light>1</backscattered_light>
+          <bias>1</bias>
+          <blue>1</blue>
+          <buffers>1</buffers>
+          <bufflag>0</bufflag>
+          <bufsize>2880</bufsize>
+          <buftype>2</buftype>
+          <clipend>30.002</clipend>
+          <clipsta>1.000799</clipsta>
+          <compressthresh>0.04999995</compressthresh>
+          <dist sid="blender_dist">29.99998</dist>
+          <energy sid="blender_energy">1</energy>
+          <falloff_type>2</falloff_type>
+          <filtertype>0</filtertype>
+          <flag>0</flag>
+          <gamma sid="blender_gamma">1</gamma>
+          <green>1</green>
+          <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
+          <horizon_brightness>1</horizon_brightness>
+          <mode>8192</mode>
+          <ray_samp>1</ray_samp>
+          <ray_samp_method>1</ray_samp_method>
+          <ray_samp_type>0</ray_samp_type>
+          <ray_sampy>1</ray_sampy>
+          <ray_sampz>1</ray_sampz>
+          <red>1</red>
+          <samp>3</samp>
+          <shadhalostep>0</shadhalostep>
+          <shadow_b sid="blender_shadow_b">0</shadow_b>
+          <shadow_g sid="blender_shadow_g">0</shadow_g>
+          <shadow_r sid="blender_shadow_r">0</shadow_r>
+          <sky_colorspace>0</sky_colorspace>
+          <sky_exposure>1</sky_exposure>
+          <skyblendfac>1</skyblendfac>
+          <skyblendtype>1</skyblendtype>
+          <soft>3</soft>
+          <spotblend>0.15</spotblend>
+          <spotsize>75</spotsize>
+          <spread>1</spread>
+          <sun_brightness>1</sun_brightness>
+          <sun_effect_type>0</sun_effect_type>
+          <sun_intensity>1</sun_intensity>
+          <sun_size>1</sun_size>
+          <type>0</type>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_images/>
+  <library_geometries>
+    <geometry id="EPP1045_B-mesh" name="EPP1045 B">
+      <mesh>
+        <source id="EPP1045_B-mesh-positions">
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4318 2149 4318 2269 4318 2269 4319 2149 4319 2281 4319 2269 4320 2281 4320 2253 4320 2253 4321 2281 4321 2263 4321 2066 4322 2248 4322 2064 4322 2064 4323 2248 4323 2284 4323 2064 4324 2284 4324 2062 4324 2062 4325 2284 4325 2286 4325 2062 4326 2286 4326 2055 4326 2055 4327 2286 4327 2054 4327 2265 4328 2274 4328 2266 4328 2266 4329 2274 4329 2276 4329 2266 4330 2276 4330 2267 4330 2267 4331 2276 4331 2278 4331 2267 4332 2278 4332 2283 4332 2283 4333 2278 4333 2280 4333 2283 4334 2280 4334 2282 4334 2060 4335 2059 4335 2270 4335 2270 4336 2059 4336 2268 4336 2270 4337 2268 4337 2309 4337 2309 4338 2268 4338 2302 4338 2309 4339 2302 4339 2308 4339 2308 4340 2302 4340 2301 4340 2308 4341 2301 4341 2307 4341 2307 4342 2301 4342 2300 4342 2307 4343 2300 4343 2306 4343 2306 4344 2300 4344 2299 4344 2306 4345 2299 4345 2305 4345 2305 4346 2299 4346 2298 4346 2305 4347 2298 4347 2304 4347 2304 4348 2298 4348 2272 4348 2304 4349 2272 4349 2303 4349 2303 4350 2272 4350 2271 4350 2303 4351 2271 4351 2310 4351 2149 4352 2148 4352 2281 4352 2281 4353 2148 4353 2153 4353 2281 4354 2153 4354 2275 4354 2275 4355 2153 4355 2154 4355 2275 4356 2154 4356 2277 4356 2277 4357 2154 4357 2152 4357 2277 4358 2152 4358 2151 4358 2150 4359 2157 4359 2310 4359 2310 4360 2157 4360 2143 4360 2310 4361 2143 4361 2303 4361 2303 4362 2143 4362 2144 4362 2303 4363 2144 4363 2145 4363 2151 4364 2150 4364 2277 4364 2277 4365 2150 4365 2310 4365 2277 4366 2310 4366 2279 4366 2279 4367 2310 4367 2271 4367 2279 4368 2271 4368 2280 4368 2280 4369 2271 4369 2273 4369 2280 4370 2273 4370 2282 4370 2282 4371 2273 4371 2295 4371 2282 4372 2295 4372 2242 4372 2242 4373 2295 4373 2238 4373</p>
+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Lamp" name="Lamp" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Lamp-light"/>
+      </node>
+      <node id="EPP1045_B" name="EPP1045_B" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#EPP1045_B-mesh"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/gazebo_models/sikorsky X2/model (copy).sdf b/gazebo_models/sikorsky X2/model (copy).sdf
new file mode 100644
index 00000000..dd2b1340
--- /dev/null
+++ b/gazebo_models/sikorsky X2/model (copy).sdf	
@@ -0,0 +1,513 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+  <model name='iris'>
+    <pose>0 0 0.194923 0 0 0</pose>
+    <link name='base_link'>
+      <velocity_decay>
+        <linear>0.0</linear>
+        <angular>0.0</angular>
+      </velocity_decay>
+      <inertial>
+        <pose>0 0 0 0 0 0</pose>
+        <mass>1.5</mass>
+        <inertia>
+          <ixx>0.008</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.015</iyy>
+          <iyz>0</iyz>
+          <izz>0.017</izz>
+        </inertia>
+      </inertial>
+      <collision name='base_link_collision'>
+        <pose>0 0 -0.08 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.47 0.47 0.23</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <max_vel>100.0</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>1.0</mu>
+              <mu2>1.0</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name='base_link_visual'>
+        <geometry>
+          <mesh>
+            <uri>model://iris_with_standoffs/meshes/iris.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/DarkGrey</name>
+          </script>
+        </material>
+      </visual>
+
+      <visual name='front_left_leg_visual'>
+        <pose>0.123 0.22 -0.11 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.17</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/FlatBlack</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name='front_right_leg_visual'>
+        <pose>0.123 -0.22 -0.11 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.17</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/FlatBlack</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name='rear_left_leg_visual'>
+        <pose>-0.140 0.21 -0.11 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.17</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/FlatBlack</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name='rear_right_leg_visual'>
+        <pose>-0.140 -0.21 -0.11 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.17</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/FlatBlack</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+    </link>
+    <link name='iris/ground_truth/odometry_sensorgt_link'>
+      <pose>0 0 0 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <mass>0.15</mass>
+        <inertia>
+          <ixx>0.0001</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0002</iyy>
+          <iyz>0</iyz>
+          <izz>0.0002</izz>
+        </inertia>
+      </inertial>
+    </link>
+    <joint name='iris/ground_truth/odometry_sensorgt_joint' type='revolute'>
+      <child>iris/ground_truth/odometry_sensorgt_link</child>
+      <parent>base_link</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>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+        </ode>
+      </physics>
+    </joint>
+    <link name='iris/imu_link'>
+      <inertial>
+        <pose>0 0 0 0 0 0</pose>
+        <mass>0.15</mass>
+        <inertia>
+          <ixx>0.00001</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 0</pose>
+        <always_on>1</always_on>
+        <update_rate>1000.0</update_rate>
+      </sensor>
+    </link>
+    <joint name='iris/imu_joint' type='revolute'>
+      <child>iris/imu_link</child>
+      <parent>base_link</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>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+        </ode>
+      </physics>
+    </joint>
+<!--
+    <link name='iris/imugt_link'>
+      <pose>0 0 0 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <mass>1e-02</mass>
+        <inertia>
+          <ixx>0.0002</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0002</iyy>
+          <iyz>0</iyz>
+          <izz>0.0002</izz>
+        </inertia>
+      </inertial>
+    </link>
+    <joint name='iris/imugt_joint' type='revolute'>
+      <child>iris/imugt_link</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>0</lower>
+          <upper>0</upper>
+          <effort>0</effort>
+          <velocity>0</velocity>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+-->
+    <link name='rotor_0'>
+      <pose>0.13 -0.22 0.023 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <mass>0.025</mass>
+        <inertia>
+          <ixx>9.75e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.000166704</iyy>
+          <iyz>0</iyz>
+          <izz>0.000167604</izz>
+        </inertia>
+      </inertial>
+      <collision name='rotor_0_collision'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.005</length>
+            <radius>0.1</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <visual name='rotor_0_visual'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://iris_with_standoffs/meshes/iris_prop_ccw.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Blue</name>
+            <uri>__default__</uri>
+          </script>
+        </material>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+      <self_collide>0</self_collide>
+    </link>
+    <joint name='rotor_0_joint' type='revolute'>
+      <child>rotor_0</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <damping>0.004</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+        </ode>
+      </physics>
+    </joint>
+    <link name='rotor_1'>
+      <pose>-0.13 0.2 0.023 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <mass>0.025</mass>
+        <inertia>
+          <ixx>9.75e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.000166704</iyy>
+          <iyz>0</iyz>
+          <izz>0.000167604</izz>
+        </inertia>
+      </inertial>
+      <collision name='rotor_1_collision'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.005</length>
+            <radius>0.1</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <visual name='rotor_1_visual'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://iris_with_standoffs/meshes/iris_prop_ccw.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/DarkGrey</name>
+            <uri>__default__</uri>
+          </script>
+        </material>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+      <self_collide>0</self_collide>
+    </link>
+    <joint name='rotor_1_joint' type='revolute'>
+      <child>rotor_1</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <damping>0.004</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+        </ode>
+      </physics>
+    </joint>
+    <link name='rotor_2'>
+      <pose>0.13 0.22 0.023 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <mass>0.025</mass>
+        <inertia>
+          <ixx>9.75e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.000166704</iyy>
+          <iyz>0</iyz>
+          <izz>0.000167604</izz>
+        </inertia>
+      </inertial>
+      <collision name='rotor_2_collision'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.005</length>
+            <radius>0.1</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <visual name='rotor_2_visual'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://iris_with_standoffs/meshes/iris_prop_cw.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Blue</name>
+            <uri>__default__</uri>
+          </script>
+        </material>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+      <self_collide>0</self_collide>
+    </link>
+    <joint name='rotor_2_joint' type='revolute'>
+      <child>rotor_2</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <damping>0.004</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+        </ode>
+      </physics>
+    </joint>
+    <link name='rotor_3'>
+      <pose>-0.13 -0.2 0.023 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <mass>0.025</mass>
+        <inertia>
+          <ixx>9.75e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.000166704</iyy>
+          <iyz>0</iyz>
+          <izz>0.000167604</izz>
+        </inertia>
+      </inertial>
+      <collision name='rotor_3_collision'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.005</length>
+            <radius>0.1</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <visual name='rotor_3_visual'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://iris_with_standoffs/meshes/iris_prop_cw.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/DarkGrey</name>
+            <uri>__default__</uri>
+          </script>
+        </material>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+      <self_collide>0</self_collide>
+    </link>
+    <joint name='rotor_3_joint' type='revolute'>
+      <child>rotor_3</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <damping>0.004</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+        </ode>
+      </physics>
+    </joint>
+    <static>0</static>
+  </model>
+</sdf>
diff --git a/gazebo_models/sikorsky X2/model.config b/gazebo_models/sikorsky X2/model.config
new file mode 100644
index 00000000..beeb50b8
--- /dev/null
+++ b/gazebo_models/sikorsky X2/model.config	
@@ -0,0 +1,33 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>Sikorsky X2</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+
+  <author>
+    <name>Fadri Furrer</name>
+    <email>fadri.furrer@mavt.ethz.ch</email>
+  </author>
+  <author>
+    <name>Michael Burri</name>
+  </author>
+  <author>
+    <name>Mina Kamel</name>
+  </author>
+  <author>
+    <name>Janosch Nikolic</name>
+  </author>
+  <author>
+    <name>Markus Achtelik</name>
+  </author>
+  <author>
+	<name>Seunghwan Jo</name>
+	<email>snipertype@cnu.ac.kr</email>
+</author>	
+
+
+  <description>
+Compound Coaxial Helicopter Sikorsky X2's RC model based on Iris_standoff Model with ArduPilot(real model solds here http://wwww.skyrush.eu)
+  </description>
+</model>
diff --git a/gazebo_models/sikorsky X2/model.sdf b/gazebo_models/sikorsky X2/model.sdf
new file mode 100644
index 00000000..e87b2cbd
--- /dev/null
+++ b/gazebo_models/sikorsky X2/model.sdf	
@@ -0,0 +1,406 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+  <model name='sikorsky X2'>
+    <pose>0 0 0.194923 0 0 0</pose>
+    <link name='base_link'>
+      <velocity_decay>
+        <linear>0.0</linear>
+        <angular>0.0</angular>
+      </velocity_decay>
+      <inertial>
+        <pose>0 0 0 0 0 0</pose>
+        <mass>1.5</mass>
+        <inertia>
+          <ixx>0.008</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.015</iyy>
+          <iyz>0</iyz>
+          <izz>0.017</izz>
+        </inertia>
+      </inertial>
+      <collision name='base_link_collision'>
+        <pose>0 0 -0.08 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.47 0.47 0.23</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <max_vel>100.0</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>1.0</mu>
+              <mu2>1.0</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name='base_link_visual'>
+        <geometry>
+          <mesh>
+            <uri>model://iris_with_standoffs/meshes/iris.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/DarkGrey</name>
+          </script>
+        </material>
+      </visual>
+
+      <visual name='front_left_leg_visual'>
+        <pose>0.123 0.22 -0.11 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.17</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/FlatBlack</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name='front_right_leg_visual'>
+        <pose>0.123 -0.22 -0.11 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.17</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/FlatBlack</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name='rear_left_leg_visual'>
+        <pose>-0.140 0.21 -0.11 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.17</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/FlatBlack</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name='rear_right_leg_visual'>
+        <pose>-0.140 -0.21 -0.11 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.005</radius>
+            <length>0.17</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/FlatBlack</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+    </link>
+    <link name='iris/imu_link'>
+      <inertial>
+        <pose>0 0 0 0 0 0</pose>
+        <mass>0.15</mass>
+        <inertia>
+          <ixx>0.00001</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 0</pose>
+        <always_on>1</always_on>
+        <update_rate>1000.0</update_rate>
+      </sensor>
+    </link>
+    <joint name='iris/imu_joint' type='revolute'>
+      <child>iris/imu_link</child>
+      <parent>base_link</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>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+        </ode>
+      </physics>
+    </joint>
+<!--
+    <link name='iris/imugt_link'>
+      <pose>0 0 0 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <mass>1e-02</mass>
+        <inertia>
+          <ixx>0.0002</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0002</iyy>
+          <iyz>0</iyz>
+          <izz>0.0002</izz>
+        </inertia>
+      </inertial>
+    </link>
+    <joint name='iris/imugt_joint' type='revolute'>
+      <child>iris/imugt_link</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>0</lower>
+          <upper>0</upper>
+          <effort>0</effort>
+          <velocity>0</velocity>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+-->
+    <link name='rotor_up'>
+      <pose>0 0 0.4 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <mass>0.025</mass>
+        <inertia>
+          <ixx>9.75e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.000166704</iyy>
+          <iyz>0</iyz>
+          <izz>0.000167604</izz>
+        </inertia>
+      </inertial>
+      <collision name='rotor_up_collision'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.005</length>
+            <radius>0.1</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <visual name='rotor_up_visual'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://iris_with_standoffs/meshes/iris_prop_ccw.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Blue</name>
+            <uri>__default__</uri>
+          </script>
+        </material>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+      <self_collide>0</self_collide>
+    </link>
+    <joint name='rotor_up_joint' type='revolute'>
+      <child>rotor_0</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <damping>0.004</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+        </ode>
+      </physics>
+    </joint>
+    <link name='rotor_down'>
+      <pose>-0.13 0.2 0.023 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <mass>0.025</mass>
+        <inertia>
+          <ixx>9.75e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.000166704</iyy>
+          <iyz>0</iyz>
+          <izz>0.000167604</izz>
+        </inertia>
+      </inertial>
+      <collision name='rotor_down_collision'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.005</length>
+            <radius>0.1</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <visual name='rotor_down_visual'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://iris_with_standoffs/meshes/iris_prop_ccw.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/DarkGrey</name>
+            <uri>__default__</uri>
+          </script>
+        </material>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+      <self_collide>0</self_collide>
+    </link>
+    <joint name='rotor_down_joint' type='revolute'>
+      <child>rotor_1</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <damping>0.004</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+        </ode>
+      </physics>
+    </joint>
+    <link name='rotor_rear'>
+      <pose>0.13 0.22 0.023 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <mass>0.025</mass>
+        <inertia>
+          <ixx>9.75e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.000166704</iyy>
+          <iyz>0</iyz>
+          <izz>0.000167604</izz>
+        </inertia>
+      </inertial>
+      <collision name='rotor_rear_collision'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.005</length>
+            <radius>0.1</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <visual name='rotor_rear_visual'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://iris_with_standoffs/meshes/iris_prop_cw.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Blue</name>
+            <uri>__default__</uri>
+          </script>
+        </material>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+      <self_collide>0</self_collide>
+    </link>
+    <joint name='rotor_rear_joint' type='revolute'>
+      <child>rotor_2</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <damping>0.004</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+      <physics>
+        <ode>
+          <implicit_spring_damper>1</implicit_spring_damper>
+        </ode>
+      </physics>
+    </joint>
+    <static>0</static>
+  </model>
+</sdf>
diff --git a/gazebo_models/zephyr_delta_wing_ardupilot_demo/delta_wing.sdf b/gazebo_models/zephyr_delta_wing_ardupilot_demo/delta_wing.sdf
index 484c843f..822b68de 100644
--- a/gazebo_models/zephyr_delta_wing_ardupilot_demo/delta_wing.sdf
+++ b/gazebo_models/zephyr_delta_wing_ardupilot_demo/delta_wing.sdf
@@ -12,7 +12,21 @@
       -->
       <pose>0 0 0.2 0 0 0</pose>
     </include>
-
+    <include>
+      <uri>model://ZED_stereocamera</uri>
+      <pose>0 -0.25 0.18 0 0 1.5707</pose>
+    </include>
+    <joint name="camera_mount" type="fixed">
+      <child>ZED_stereocamera::link</child>
+      <parent>skid_pad</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <upper>0</upper>
+          <lower>0</lower>
+        </limit>
+      </axis>
+    </joint>
     <link name="skid_pad">
       <inertial>
         <mass>0.1</mass>
@@ -63,23 +77,6 @@
           </friction>
         </surface>
       </collision>
-      <sensor name="chase_cam" type="camera">
-        <pose>0 5 0.0 0 0.0 -1.5707</pose>
-        <camera>
-          <horizontal_fov>0.5</horizontal_fov>
-          <image>
-            <width>1280</width>
-            <height>960</height>
-          </image>
-          <clip>
-            <near>0.1</near>
-            <far>1000</far>
-          </clip>
-        </camera>
-        <always_on>0</always_on>
-        <update_rate>15</update_rate>
-        <visualize>false</visualize>
-      </sensor>
       <sensor name="chase_cam_wide" type="camera">
         <pose>0 2 1 0 0.2 -1.5707</pose>
         <camera>
diff --git a/gazebo_worlds/iris_ardupilot.world b/gazebo_worlds/iris_ardupilot.world
new file mode 100644
index 00000000..801f4847
--- /dev/null
+++ b/gazebo_worlds/iris_ardupilot.world
@@ -0,0 +1,132 @@
+<?xml version="1.0" ?>
+
+<!--
+
+To run this demo, you must have following arducopter repo checked out:
+
+https://github.com/iche033/ardupilot/tree/gazebo_sitl_irlock
+
+Compile ArduCopter with SITL mode. Instructions are similar to:
+
+http://ardupilot.org/dev/docs/building-px4-for-linux-with-make.html
+
+but change the make target to sitl instead of px4-v2, i.e.
+
+$ cd ardupilot/ArduCopter && make sitl
+
+To start simulation, first run gazebo:
+
+gazebo worlds/iris_irlock_demo.world
+
+Gazebo starts up paused in a black screen. To run the simulation,
+setup ArduCopter and run the command below in a separate terminal:
+
+sim_vehicle.sh -j 4 -f Gazebo
+
+This will start mavproxy. Wait until you have a GPS lock.
+You can then do the usual mavprox commands with Gazebo, e.g.
+
+# arm the motors
+STABILIZE> arm throttle
+
+# switch to LOITER mode
+STABILIZE> mode LOITER
+
+# take off using rc command
+LOITER> rc 3 1700
+
+# wait until the irlock beacon is within the view then switch to land mode
+# to begin precision landing
+LOITER> mode LAND
+
+-->
+
+<sdf version="1.6">
+  <world name="default">
+    <physics type="ode">
+      <ode>
+        <solver>
+          <type>quick</type>
+          <iters>100</iters>
+          <sor>1.0</sor>
+        </solver>
+        <constraints>
+          <cfm>0.0</cfm>
+          <erp>0.9</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>0</real_time_update_rate>
+      <max_step_size>0.0025</max_step_size>
+    </physics>
+
+      <include>
+      <uri>model://sun</uri>
+    </include>
+
+    <model name="ground_plane">
+      <static>true</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>5000 5000</size>
+            </plane>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+              </ode>
+            </friction>
+          </surface>
+        </collision>
+        <visual name="runway">
+          <pose>000 0 0.005 0 0 -1.5707</pose>
+          <cast_shadows>false</cast_shadows>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>1829 45</size>
+            </plane>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Runway</name>
+            </script>
+          </material>
+        </visual>
+
+        <visual name="grass">
+          <pose>0 0 -0.1 0 0 0</pose>
+          <cast_shadows>false</cast_shadows>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>5000 5000</size>
+            </plane>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grass</name>
+            </script>
+          </material>
+        </visual>
+
+      </link>
+    </model>
+
+    <model name="iris">
+      <pose> 0 0 0 0 0 0 </pose>
+      <include>
+        <uri>model://iris_with_standoffs3</uri>
+         <pose> 0 0 0 0 0 0 </pose>
+      </include>
+    </model>
+  </world>
+</sdf>
diff --git a/gazebo_worlds/iris_irlock_demo_over_rover.world b/gazebo_worlds/iris_irlock_demo_over_rover.world
new file mode 100644
index 00000000..584ab74f
--- /dev/null
+++ b/gazebo_worlds/iris_irlock_demo_over_rover.world
@@ -0,0 +1,237 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <world name="default">
+    <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>0</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>
+
+    <model name="ground_plane">
+      <static>true</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>5000 5000</size>
+            </plane>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>100</mu>
+                <mu2>50</mu2>
+              </ode>
+            </friction>
+          </surface>
+        </collision>
+        <visual name="runway">
+          <pose>000 0 0.005 0 0 0</pose>
+          <cast_shadows>false</cast_shadows>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>1829 45</size>
+            </plane>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Runway</name>
+            </script>
+          </material>
+        </visual>
+
+        <visual name="grass">
+          <pose>0 0 -0.1 0 0 0</pose>
+          <cast_shadows>false</cast_shadows>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>5000 5000</size>
+            </plane>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grass</name>
+            </script>
+          </material>
+        </visual>
+
+      </link>
+    </model>
+
+    <model name="iris">
+      <pose>2 1 0 0 0 0</pose>
+      <include>
+        <uri>model://iris_with_standoffs_demo2</uri>
+      </include>
+
+      <!-- add new camera -->
+      <link name='camera'>
+        <pose>0 -0.01 0.070 1.57 0 1.57</pose>
+        <inertial>
+          <pose>0 0 0 0 0 0</pose>
+          <mass>0.1</mass>
+          <inertia>
+            <ixx>0.001</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.001</iyy>
+            <iyz>0</iyz>
+            <izz>0.001</izz>
+          </inertia>
+        </inertial>
+        <visual name='visual'>
+          <pose>0 0 0 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.025</radius>
+              <length>0.025</length>
+            </cylinder>
+          </geometry>
+           <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <sensor name="camera" type="camera">
+          <pose>0 0 0 -1.57 -1.57 0</pose>
+          <camera>
+            <horizontal_fov>1.0472</horizontal_fov>
+            <image>
+              <width>320</width>
+              <height>200</height>
+            </image>
+            <clip>
+              <near>0.05</near>
+              <far>1000</far>
+            </clip>
+          </camera>
+          <always_on>1</always_on>
+          <update_rate>10</update_rate>
+          <visualize>true</visualize>
+
+          <plugin name="irlock" filename="libArduCopterIRLockPlugin.so">
+              <fiducial>rover_demo</fiducial>
+              <irlock_port>9015</irlock_port>
+          </plugin>
+        </sensor>
+      </link>
+
+      <!-- attach camera -->
+      <joint type="revolute" name="base_camera_joint">
+        <pose>0 0 0.0 0 0 0</pose>
+        <parent>iris::iris_demo::gimbal_small_2d::tilt_link</parent>
+        <child>camera</child>
+        <axis>
+          <limit>
+            <lower>0</lower>
+            <upper>0</upper>
+          </limit>
+          <xyz>0 0 1</xyz>
+          <use_parent_model_frame>true</use_parent_model_frame>
+        </axis>
+      </joint>
+    </model>
+
+    <model name="rover_demo">
+      <include>
+        <uri>model://rover_steer_ardupilot</uri>
+      </include>
+      <link name="irlock_beacon_01">
+      <pose>0 0 0.35 0 0 0</pose>
+         <inertial>
+          <pose>0 0 0 0 0 0.15</pose>
+          <mass>3.0</mass>
+          <inertia>
+            <ixx>0.019</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.01</iyy>
+            <iyz>0</iyz>
+            <izz>0.01</izz>
+          </inertia>
+        </inertial>
+        <collision name="collision">
+          <geometry>
+            <box>
+              <size>1.0 1.0 0.02</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <friction>
+              <ode>
+              <mu>100000.0</mu>
+              <mu2>100000.0</mu2>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+                <fdir1>1 0 0</fdir1>
+              </ode>
+            </friction>
+            <contact>
+              <ode>
+                <kp>1e+12</kp>
+                <kd>1</kd>
+                <max_vel>10</max_vel>
+                <min_depth>0.003</min_depth>
+              </ode>
+            </contact>
+          </surface>
+        </collision>
+        <visual name="visual2">
+          <geometry>
+            <box>
+              <size>1.0 1.0 0.018</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <name>Gazebo/Green</name>
+            </script>
+          </material>
+        </visual>
+        <visual name="visual">
+          <geometry>
+            <box>
+              <size>0.1 0.1 0.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <name>Gazebo/Red</name>
+            </script>
+          </material>
+        </visual>
+      </link>
+            <!-- attach camera -->
+      <joint type="fixed" name="base_irlock">
+        <pose>0 0 0.35 0 0 0</pose>
+        <parent>rover_demo::rover_ardupilot_demo::rover::chassis</parent>
+        <child>irlock_beacon_01</child>
+      </joint>
+    </model>
+
+  </world>
+</sdf>
diff --git a/gazebo_worlds/iris_irlock_demo_over_rover2.world b/gazebo_worlds/iris_irlock_demo_over_rover2.world
new file mode 100644
index 00000000..109cb310
--- /dev/null
+++ b/gazebo_worlds/iris_irlock_demo_over_rover2.world
@@ -0,0 +1,237 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <world name="default">
+    <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>0</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>
+
+    <model name="ground_plane">
+      <static>true</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>5000 5000</size>
+            </plane>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>100</mu>
+                <mu2>50</mu2>
+              </ode>
+            </friction>
+          </surface>
+        </collision>
+        <visual name="runway">
+          <pose>000 0 0.005 0 0 0</pose>
+          <cast_shadows>false</cast_shadows>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>1829 45</size>
+            </plane>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Runway</name>
+            </script>
+          </material>
+        </visual>
+
+        <visual name="grass">
+          <pose>0 0 -0.1 0 0 0</pose>
+          <cast_shadows>false</cast_shadows>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>5000 5000</size>
+            </plane>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grass</name>
+            </script>
+          </material>
+        </visual>
+
+      </link>
+    </model>
+
+    <model name="iris">
+      <pose>2 1 0 0 0 0</pose>
+      <include>
+        <uri>model://iris_with_standoffs_demo2</uri>
+      </include>
+
+      <!-- add new camera -->
+      <link name='camera'>
+        <pose>0 -0.01 0.070 1.57 0 1.57</pose>
+        <inertial>
+          <pose>0 0 0 0 0 0</pose>
+          <mass>0.1</mass>
+          <inertia>
+            <ixx>0.001</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.001</iyy>
+            <iyz>0</iyz>
+            <izz>0.001</izz>
+          </inertia>
+        </inertial>
+        <visual name='visual'>
+          <pose>0 0 0 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.025</radius>
+              <length>0.025</length>
+            </cylinder>
+          </geometry>
+           <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <sensor name="camera" type="camera">
+          <pose>0 0 0 -1.57 -1.57 0</pose>
+          <camera>
+            <horizontal_fov>1.0472</horizontal_fov>
+            <image>
+              <width>320</width>
+              <height>200</height>
+            </image>
+            <clip>
+              <near>0.05</near>
+              <far>1000</far>
+            </clip>
+          </camera>
+          <always_on>1</always_on>
+          <update_rate>10</update_rate>
+          <visualize>true</visualize>
+
+          <plugin name="irlock" filename="libArduCopterIRLockPlugin.so">
+              <fiducial>rover_demo</fiducial>
+              <irlock_port>9015</irlock_port>
+          </plugin>
+        </sensor>
+      </link>
+
+      <!-- attach camera -->
+      <joint type="revolute" name="base_camera_joint">
+        <pose>0 0 0.0 0 0 0</pose>
+        <parent>iris::iris_demo::gimbal_small_2d::tilt_link</parent>
+        <child>camera</child>
+        <axis>
+          <limit>
+            <lower>0</lower>
+            <upper>0</upper>
+          </limit>
+          <xyz>0 0 1</xyz>
+          <use_parent_model_frame>true</use_parent_model_frame>
+        </axis>
+      </joint>
+    </model>
+
+    <model name="rover_demo">
+      <include>
+        <uri>model://husky_ardu</uri>
+      </include>
+      <link name="irlock_beacon_01">
+         <pose>0 0 0.755419 0 0 0</pose>
+         <inertial>
+          <pose>0 0 0 0 0 0.15</pose>
+          <mass>3.0</mass>
+          <inertia>
+            <ixx>0.00251898</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.0021791</iyy>
+            <iyz>0</iyz>
+            <izz>0.000406191</izz>
+          </inertia>
+        </inertial>
+        <collision name="collision">
+         <geometry>
+          <box>
+            <size>0.921856 0.734321 0.02</size>
+          </box>
+         </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <friction>
+              <ode>
+              <mu>100000.0</mu>
+              <mu2>100000.0</mu2>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+                <fdir1>1 0 0</fdir1>
+              </ode>
+            </friction>
+            <contact>
+              <ode>
+                <kp>1e+12</kp>
+                <kd>1</kd>
+                <max_vel>10</max_vel>
+                <min_depth>0.003</min_depth>
+              </ode>
+            </contact>
+          </surface>
+        </collision>
+        <visual name="visual2">
+          <geometry>
+            <box>
+                <size>0.921856 0.734321 0.018</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <name>Gazebo/Green</name>
+            </script>
+          </material>
+        </visual>
+        <visual name="visual">
+          <geometry>
+           <box>
+            <size>0.091589 0.074802 0.02</size>
+           </box>
+          </geometry>
+          <material>
+            <script>
+              <name>Gazebo/Red</name>
+            </script>
+          </material>
+        </visual>
+      </link>
+
+      <joint type="fixed" name="base_irlock">
+        <pose>0 0 0 0 0 0</pose>
+        <parent>rover_demo::husky_ardu::base_link</parent>
+        <child>irlock_beacon_01</child>
+      </joint>
+    </model>
+
+  </world>
+</sdf>