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I am using Gazebo 9.5. I followed this tutorial for the animations: http://gazebosim.org/tutorials?tut=actor. The photo in my first post shows the script related to the cessna model (it is a dae model), this script is in the world file that is characterized by many models (like the cessna, namely dae) and by the 3d city model that i have created starting from open street map. I need to make these models feel the collision with the buildings of the city.