<?xml version="1.0"?>
<robot name="quadrotor">
  <link name="base_link">
    <visual>
      <geometry><box size="0.4 0.4 0.1"/></geometry>
    </visual>
    <collision>
      <geometry><box size="0.4 0.4 0.1"/></geometry>
    </collision>
    <inertial>
      <mass value="1.0"/>
      <inertia ixx="0.01" iyy="0.01" izz="0.02" ixy="0" ixz="0" iyz="0"/>
    </inertial>
  </link>

  <link name="rotor_fl">
    <visual><geometry><cylinder radius="0.08" length="0.02"/></geometry></visual>
    <collision><geometry><cylinder radius="0.08" length="0.02"/></geometry></collision>
    <inertial><mass value="0.05"/>
      <inertia ixx="0.0001" iyy="0.0001" izz="0.0001" ixy="0" ixz="0" iyz="0"/>
    </inertial>
  </link>
  <joint name="rotor_fl_joint" type="continuous">
    <parent link="base_link"/>
    <child link="rotor_fl"/>
    <origin xyz="0.15 0.15 0.06"/>
    <axis xyz="0 0 1"/>
  </joint>

  <link name="rotor_fr">
    <visual><geometry><cylinder radius="0.08" length="0.02"/></geometry></visual>
    <collision><geometry><cylinder radius="0.08" length="0.02"/></geometry></collision>
    <inertial><mass value="0.05"/>
      <inertia ixx="0.0001" iyy="0.0001" izz="0.0001" ixy="0" ixz="0" iyz="0"/>
    </inertial>
  </link>
  <joint name="rotor_fr_joint" type="continuous">
    <parent link="base_link"/>
    <child link="rotor_fr"/>
    <origin xyz="0.15 -0.15 0.06"/>
    <axis xyz="0 0 1"/>
  </joint>

  <link name="rotor_rl">
    <visual><geometry><cylinder radius="0.08" length="0.02"/></geometry></visual>
    <collision><geometry><cylinder radius="0.08" length="0.02"/></geometry></collision>
    <inertial><mass value="0.05"/>
      <inertia ixx="0.0001" iyy="0.0001" izz="0.0001" ixy="0" ixz="0" iyz="0"/>
    </inertial>
  </link>
  <joint name="rotor_rl_joint" type="continuous">
    <parent link="base_link"/>
    <child link="rotor_rl"/>
    <origin xyz="-0.15 0.15 0.06"/>
    <axis xyz="0 0 1"/>
  </joint>

  <link name="rotor_rr">
    <visual><geometry><cylinder radius="0.08" length="0.02"/></geometry></visual>
    <collision><geometry><cylinder radius="0.08" length="0.02"/></geometry></collision>
    <inertial><mass value="0.05"/>
      <inertia ixx="0.0001" iyy="0.0001" izz="0.0001" ixy="0" ixz="0" iyz="0"/>
    </inertial>
  </link>
  <joint name="rotor_rr_joint" type="continuous">
    <parent link="base_link"/>
    <child link="rotor_rr"/>
    <origin xyz="-0.15 -0.15 0.06"/>
    <axis xyz="0 0 1"/>
  </joint>
</robot>
