my_models/cf2x_big/cf2x_big.urdf

<?xml version="1.0" ?>

<robot name="cf2">

  <material name="red">
    <color rgba="1.0 0.0 0.0 1.0"/>
  </material>

  <link name="base_link">

    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.027"/>
      <inertia ixx="1.4e-5" ixy="0.0" ixz="0.0" iyy="1.4e-5" iyz="0.0" izz="2.17e-5"/>
    </inertial>

    <!-- links>
      <carlos url="https://arxiv.org/pdf/1608.05786.pdf" />
      <julian url="http://mikehamer.info/assets/papers/Crazyflie%20Modelling.pdf" />
      <mit url="http://groups.csail.mit.edu/robotics-center/public_papers/Landry15.pdf" />
    </links -->

    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./cf2.dae" scale="3 3 3"/>
      </geometry>
      <material name="red"/>
    </visual>

    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.09 0.09 0.02"/>
      </geometry>
    </collision>

  </link>

  <link name="prop1_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.028 -0.028 0"/>
      <mass value="0"/>
      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
    </inertial>
  </link>
  <joint name="prop1_joint" type="fixed">
    <parent link="base_link"/>
    <child link="prop1_link"/>
  </joint>

  <link name="prop2_link">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.028 0.028 0"/>
      <mass value="0"/>
      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
    </inertial>
  </link>
  <joint name="prop2_joint" type="fixed">
    <parent link="base_link"/>
    <child link="prop2_link"/>
  </joint>

  <link name="prop3_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.028 0.028 0"/>
      <mass value="0"/>
      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
    </inertial>
  </link>
  <joint name="prop3_joint" type="fixed">
    <parent link="base_link"/>
    <child link="prop3_link"/>
  </joint>

  <link name="prop4_link">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.028 -0.028 0"/>
      <mass value="0"/>
      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
    </inertial>
  </link>
  <joint name="prop4_joint" type="fixed">
    <parent link="base_link"/>
    <child link="prop4_link"/>
  </joint>

  <link name="center_of_mass_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0"/>
      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
    </inertial>
  </link>
  <joint name="center_of_mass_joint" type="fixed">
    <parent link="base_link"/>
    <child link="center_of_mass_link"/>
  </joint>

  <link name="body">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0"/>
      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
    </inertial>
  </link>
  <joint name="body_link" type="fixed">
    <parent link="base_link"/>
    <child link="body"/>
    <origin xyz="0 0 0"/>
    <axis xyz="0 0 0"/>
  </joint>

</robot>