diff --git a/ardupilot_gz_description/models/iris_with_lidar/model.sdf b/ardupilot_gz_description/models/iris_with_lidar/model.sdf
index 7c78c1c..b9a3399 100755
--- a/ardupilot_gz_description/models/iris_with_lidar/model.sdf
+++ b/ardupilot_gz_description/models/iris_with_lidar/model.sdf
@@ -24,7 +24,7 @@
       <alpha_stall>1.4</alpha_stall>
       <cla>4.2500</cla>
       <cda>0.10</cda>
-      <cma>0.00</cma>
+      <cma>0.0</cma>
       <cla_stall>-0.025</cla_stall>
       <cda_stall>0.0</cda_stall>
       <cma_stall>0.0</cma_stall>
@@ -41,7 +41,7 @@
       <alpha_stall>1.4</alpha_stall>
       <cla>4.2500</cla>
       <cda>0.10</cda>
-      <cma>0.00</cma>
+      <cma>0.0</cma>
       <cla_stall>-0.025</cla_stall>
       <cda_stall>0.0</cda_stall>
       <cma_stall>0.0</cma_stall>
@@ -59,7 +59,7 @@
       <alpha_stall>1.4</alpha_stall>
       <cla>4.2500</cla>
       <cda>0.10</cda>
-      <cma>0.00</cma>
+      <cma>0.0</cma>
       <cla_stall>-0.025</cla_stall>
       <cda_stall>0.0</cda_stall>
       <cma_stall>0.0</cma_stall>
@@ -76,7 +76,7 @@
       <alpha_stall>1.4</alpha_stall>
       <cla>4.2500</cla>
       <cda>0.10</cda>
-      <cma>0.00</cma>
+      <cma>0.0</cma>
       <cla_stall>-0.025</cla_stall>
       <cda_stall>0.0</cda_stall>
       <cma_stall>0.0</cma_stall>
@@ -94,7 +94,7 @@
       <alpha_stall>1.4</alpha_stall>
       <cla>4.2500</cla>
       <cda>0.10</cda>
-      <cma>0.00</cma>
+      <cma>0.0</cma>
       <cla_stall>-0.025</cla_stall>
       <cda_stall>0.0</cda_stall>
       <cma_stall>0.0</cma_stall>
@@ -111,7 +111,7 @@
       <alpha_stall>1.4</alpha_stall>
       <cla>4.2500</cla>
       <cda>0.10</cda>
-      <cma>0.00</cma>
+      <cma>0.0</cma>
       <cla_stall>-0.025</cla_stall>
       <cda_stall>0.0</cda_stall>
       <cma_stall>0.0</cma_stall>
@@ -129,7 +129,7 @@
       <alpha_stall>1.4</alpha_stall>
       <cla>4.2500</cla>
       <cda>0.10</cda>
-      <cma>0.00</cma>
+      <cma>0.0</cma>
       <cla_stall>-0.025</cla_stall>
       <cda_stall>0.0</cda_stall>
       <cma_stall>0.0</cma_stall>
@@ -146,7 +146,7 @@
       <alpha_stall>1.4</alpha_stall>
       <cla>4.2500</cla>
       <cda>0.10</cda>
-      <cma>0.00</cma>
+      <cma>0.0</cma>
       <cla_stall>-0.025</cla_stall>
       <cda_stall>0.0</cda_stall>
       <cma_stall>0.0</cma_stall>
@@ -284,7 +284,7 @@
 
 
     <link name="base_scan">
-      <pose>0 0 0.27 0 0 0</pose>
+      <pose>0 0 0.075077 0 0 0</pose>
       <inertial>
         <mass>0.1</mass>
         <inertia>
diff --git a/ardupilot_gz_gazebo/worlds/iris_maze.sdf b/ardupilot_gz_gazebo/worlds/iris_maze.sdf
index 53a0107..0e5d16f 100755
--- a/ardupilot_gz_gazebo/worlds/iris_maze.sdf
+++ b/ardupilot_gz_gazebo/worlds/iris_maze.sdf
@@ -429,7 +429,7 @@
     <include>
       <uri>model://iris_with_lidar</uri>
       <name>iris</name>
-      <pose degrees="true">0 0 0.194923 0 0 0</pose>
+      <pose degrees="true">0 0 0.195 0 0 0</pose>
     </include>
 
   </world>
diff --git a/ardupilot_gz_gazebo/worlds/iris_runway.sdf b/ardupilot_gz_gazebo/worlds/iris_runway.sdf
index 53cca1e..dfa38d8 100755
--- a/ardupilot_gz_gazebo/worlds/iris_runway.sdf
+++ b/ardupilot_gz_gazebo/worlds/iris_runway.sdf
@@ -69,13 +69,13 @@
 
     <include>
       <uri>model://runway</uri>
-      <pose>0 0 0 0 0 1.57079632</pose>
+        <pose degrees="true">-29 545 0 0 0 363</pose>
     </include>
 
     <include>
       <uri>model://iris_with_gimbal</uri>
       <name>iris</name>
-      <pose>0 0 0.194923 0 0 1.57079632</pose>
+      <pose degrees="true">0 0 0.195 0 0 90</pose>
     </include>
 
   </world>