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Well for one thing, your UAV model has 5 links, but only the main body link has inertial properties (mass, inertia matrix). If the links were connected via fixed joints that wouldn't be an issue, but they are not. Each leg is connected via a prismatic joint.

Giving each leg links realistic inertial properties resolves the issue on my machine. See modified .world file C:\fakepath\uav_added_inertial_properties.world

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