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Geometry is defined by the meshes in the hector_quadrotor_description/meshes/quadrotor folder. The blender, .stl and .dae files all contain the same geometry, just in different formats. Easiest option to look at is probably the .stl file, this can be opened/imported with many tools. You can even view it online on github.

Inertial parameters are defined via the respective tags in the URDF/xacro files. For the basic quadrotor you can look at line 11 in quadrotor_base.urdf.xacro.

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