<?xml version="1.0"?>
<robot name="quadrotor">  

<!-- Definicion del robot con helices continuas (RVIZ)-->
  
<!-- ****************************BASE******************************* -->
  
<link name="Base">  <!-- Declaracion de un cuerpo o eslabon del robot-->
  <visual>
     <geometry>
      <mesh filename="package://modelquad/visual/pelican_base_escala.dae" 
			scale="0.0255 0.0255 0.0255"/> 
     </geometry>       
  </visual>
  <collision>
    <geometry>
      <mesh filename="package://modelquad/visual/pelican_base_escala.dae" 
			scale="0.0255 0.0255 0.0255"/> 
    </geometry>
  </collision>
  <inertial>
    <origin xyz="0 0 5.9e-3" rpy="0 0 0"/>
    <mass value="1.578"/>
    <inertia ixx="0.01632655" ixy="0.063e-7" ixz="0.124e-7" 
			 iyy="0.01632655" iyz="0.113e-7" izz="0.02642555"/>
  </inertial>
</link>
  
<!-- ****************************MOTORES**************************** -->
    
<link name="motor_1"> 
  <visual>
    <geometry>
     <mesh filename="package://modelquad/visual/pelican_motor_escala.dae" 
           scale="0.0255 0.0255 0.0255"/>     
    </geometry>
    <origin rpy="0 0 0" xyz="0 0 0"/>
  </visual>
  <collision>
    <geometry>
      <mesh filename="package://modelquad/visual/pelican_motor_escala.dae" 
            scale="0.0255 0.0255 0.0255"/> 
    </geometry>
  </collision>
  <inertial>
    <origin xyz="0 0 0.020" rpy="0 0 0"/>
    <mass value="0.033"/>
    <inertia ixx="63.23e-7" ixy="0.0" ixz="0.0" 
             iyy="63.23e-7" iyz="0.0" izz="63.23e-7"/>
  </inertial>
</link>

<joint name="base_a_motor_1" type="fixed"> 
  <parent link="Base"/>
  <child link="motor_1"/>
  <origin rpy="0 0 0" xyz="0.2873 0 0.015"/>
</joint>
  
<link name="motor_4"> 
  <visual>
    <geometry>
     <mesh filename="package://modelquad/visual/pelican_motor_escala.dae" 
           scale="0.0255 0.0255 0.0255"/>     
    </geometry>
    <origin rpy="0 0 0" xyz="0 0 0"/>
  </visual>
  <collision>
    <geometry>
      <mesh filename="package://modelquad/visual/pelican_motor_escala.dae" 
            scale="0.0255 0.0255 0.0255"/> 
    </geometry>
  </collision>
  <inertial>
    <origin xyz="0 0 0.020" rpy="0 0 0"/>
    <mass value="0.033"/>
    <inertia ixx="63.23e-7" ixy="0.0" ixz="0.0" 
             iyy="63.23e-7" iyz="0.0" izz="63.23e-7"/>
  </inertial>
</link>

<joint name="base_a_motor_4" type="fixed"> 
  <parent link="Base"/>
  <child link="motor_4"/>
  <origin rpy="0 0 1.57079" xyz="0 0.2873 0.015"/>
</joint>
   
<link name="motor_3"> 
  <visual>
    <geometry>
     <mesh filename="package://modelquad/visual/pelican_motor_escala.dae" 
           scale="0.0255 0.0255 0.0255"/>     
    </geometry>
    <origin rpy="0 0 0" xyz="0 0 0"/>
  </visual>
  <collision>
    <geometry>
       <mesh filename="package://modelquad/visual/pelican_motor_escala.dae" 
             scale="0.0255 0.0255 0.0255"/> 
    </geometry>
  </collision>
  <inertial>
    <origin xyz="0 0 0.020" rpy="0 0 0"/>
    <mass value="0.033"/>
    <inertia ixx="63.23e-7" ixy="0.0" ixz="0.0" 
             iyy="63.23e-7" iyz="0.0" izz="63.23e-7"/>
  </inertial>
</link>

<joint name="base_a_motor_3" type="fixed"> 
  <parent link="Base"/>
  <child link="motor_3"/>
  <origin rpy="0 0 3.14159" xyz="-0.2873 0 0.015"/>
</joint>
  
<link name="motor_2"> 
  <visual>
    <geometry>
     <mesh filename="package://modelquad/visual/pelican_motor_escala.dae" 
           scale="0.0255 0.0255 0.0255"/>     
    </geometry>
    <origin rpy="0 0 0" xyz="0 0 0"/>
  </visual>
  <collision>
    <geometry>
       <mesh filename="package://modelquad/visual/pelican_motor_escala.dae" 
             scale="0.0255 0.0255 0.0255"/> 
    </geometry>
  </collision>
  <inertial>
    <origin xyz="0 0 0.020" rpy="0 0 0"/>
    <mass value="0.033"/>
    <inertia ixx="63.23e-7" ixy="0.0" ixz="0.0" 
             iyy="63.23e-7" iyz="0.0" izz="63.23e-7"/>
  </inertial>
</link>

<joint name="base_a_motor_2" type="fixed"> 
  <parent link="Base"/>
  <child link="motor_2"/>
  <origin rpy="0 0 4.71239" xyz="0 -0.2873 0.015"/>
</joint>

<!-- **************************HELICES****************************** -->

<link name="helice_1"> 
  <visual>
    <geometry>
     <mesh filename="package://modelquad/visual/pelican_helice_escala_amarillo.dae" 
           scale="0.0255 0.0255 0.0255"/>     
    </geometry>
    <origin rpy="0 0 0" xyz="0 0 0"/>
  </visual>
  <collision>
    <geometry>
       <mesh filename="package://modelquad/visual/pelican_helice_escala_amarillo.dae" 
             scale="0.0255 0.0255 0.0255"/> 
    </geometry>
  </collision>
  <inertial>
    <origin xyz="0 0 0.022" rpy="0 0 0"/>
    <mass value="0.005"/>
    <inertia ixx="2.6e-7" ixy="4.13e-7" ixz="0.0" 
             iyy="199.012e-7" iyz="0.0" izz="198.388e-7"/>
  </inertial>
</link>

<joint name="motor_a_helice_1" type="continuous"> 
  <parent link="motor_1"/>
  <child link="helice_1"/>
  <origin rpy="0 0 0" xyz="0 0 0.04"/>
  <axis xyz="0 0 1"/>
</joint>
 
<link name="helice_4"> 
  <visual>
    <geometry>
     <mesh filename="package://modelquad/visual/pelican_helice_escala.dae" 
           scale="0.0255 0.0255 0.0255"/>     
    </geometry>
    <origin rpy="0 0 0" xyz="0 0 0"/>
  </visual>
  <collision>
    <geometry>
       <mesh filename="package://modelquad/visual/pelican_helice_escala.dae" 
             scale="0.0255 0.0255 0.0255"/> 
    </geometry>
  </collision>
  <inertial>
    <origin xyz="0 0 0.022" rpy="0 0 0"/>
    <mass value="0.005"/>
    <inertia ixx="2.6e-7" ixy="4.13e-7" ixz="0.0" 
             iyy="199.012e-7" iyz="0.0" izz="198.388e-7"/>
  </inertial>
</link>

<joint name="motor_a_helice_4" type="continuous"> 
  <parent link="motor_4"/>
  <child link="helice_4"/>
  <origin rpy="0 0 0" xyz="0 0 0.04"/>
  <axis xyz="0 0 1"/>
</joint>

<link name="helice_3"> 
  <visual>
    <geometry>
      <mesh filename="package://modelquad/visual/pelican_helice_escala.dae" 
            scale="0.0255 0.0255 0.0255"/>     
    </geometry>
    <origin rpy="0 0 0" xyz="0 0 0"/>
  </visual>
  <collision>
    <geometry>
       <mesh filename="package://modelquad/visual/pelican_helice_escala.dae" 
             scale="0.0255 0.0255 0.0255"/> 
    </geometry>
  </collision>
  <inertial>
    <origin xyz="0 0 0.022" rpy="0 0 0"/>
    <mass value="0.005"/>
    <inertia ixx="2.6e-7" ixy="4.13e-7" ixz="0.0" 
             iyy="199.012e-7" iyz="0.0" izz="198.388e-7"/>
  </inertial>
</link>

<joint name="motor_a_helice_3" type="continuous"> 
  <parent link="motor_3"/>
  <child link="helice_3"/>
  <origin rpy="0 0 0" xyz="0 0 0.04"/>
  <axis xyz="0 0 1"/>
</joint>
  
<link name="helice_2"> 
  <visual>
    <geometry>
      <mesh filename="package://modelquad/visual/pelican_helice_escala.dae" 
            scale="0.0255 0.0255 0.0255"/>     
    </geometry>
    <origin rpy="0 0 0" xyz="0 0 0"/>
  </visual>
  <collision>
    <geometry>
       <mesh filename="package://modelquad/visual/pelican_helice_escala.dae" 
             scale="0.0255 0.0255 0.0255"/> 
    </geometry>
  </collision>
  <inertial>
    <origin xyz="0 0 0.022" rpy="0 0 0"/>
    <mass value="0.005"/>
    <inertia ixx="2.6e-7" ixy="4.13e-7" ixz="0.0" 
             iyy="199.012e-7" iyz="0.0" izz="198.388e-7"/>
  </inertial>
</link>

<joint name="motor_a_helice_2" type="continuous"> 
  <parent link="motor_2"/>
  <child link="helice_2"/>
  <origin rpy="0 0 0" xyz="0 0 0.04"/>
  <axis xyz="0 0 1"/>
</joint> 
  
</robot>

