# Are there any URDF for the dev drones>?

Source: https://forum.modalai.com/topic/2585/are-there-any-urdf-for-the-dev-drones
Category: Development Drones (https://forum.modalai.com/category/44/development-drones)
Posted: 2023-08-22 03:34:32 UTC by skl1g14
Replies: 3 · Views: 4399

## skl1g14 · 2023-08-22 03:34:32 UTC

Are there any URDF or 3D model available for any of the dev drones. Would need to visualize it in ROS.

## Reply by Moderator (ModalAI staff) · 2023-08-24 04:22:52 UTC

if you viewed the data through voxl-portal, it would already be rotated properly. 

The Starling's extrinsic parameters can be found [here](https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-tools/-/blob/master/misc_files/usr/share/modalai/extrinsic_configs/starling_v2_voxl2.conf?ref_type=heads), which should help you configure your URDF

## Reply by skl1g14 · 2023-09-01 04:25:49 UTC (in reply to Moderator)

@Moderator 

Thanks for the reply. 
Perhaps I should provide more context on my current work.
I would need the URDF to simulate the drone dynamics of the m500 drone platform in a physics based simulator such as Gazebo.
One of the models provided by px4 was based of iris drone which can be found at https://github.com/PX4/PX4-SITL_gazebo-classic/blob/main/models/iris/iris.sdf.jinja

I guess my only option now is to physically measure the drone.

## Reply by skl1g14 · 2024-01-03 15:23:36 UTC (in reply to skl1g14)

@skl1g14 
in case anyone looking for URDF for m500 drone, i have it here
https://github.com/UoSM-CIRG/CAD-Files/tree/master/drone_dev_kit/catkin_ws/src/display_model/description/m500_urdf/urdf