diff --git a/CustomRobots/quadrotor/launch/quadrotor.launch.py b/CustomRobots/quadrotor/launch/quadrotor.launch.py
index b9d2023c0..6c294ca3e 100644
--- a/CustomRobots/quadrotor/launch/quadrotor.launch.py
+++ b/CustomRobots/quadrotor/launch/quadrotor.launch.py
@@ -26,6 +26,7 @@ def launch_setup(context):
     gz_namespace = LaunchConfiguration("namespace")
     gz_entity = LaunchConfiguration("entity")
     gz_color = LaunchConfiguration("color")
+    gz_scale = LaunchConfiguration("scale")
 
     package_dir = get_package_share_directory("custom_robots")
 
@@ -35,6 +36,7 @@ def launch_setup(context):
     namespace = gz_namespace.perform(context)
     entity = gz_entity.perform(context)
     color = gz_color.perform(context)
+    scale = gz_scale.perform(context)
 
     # =========================
     # ROBOT DESCRIPTION (URDF)
@@ -52,6 +54,7 @@ def launch_setup(context):
             "camera": "true" if sensor == "camera" else "false",
             "namespace": namespace,
             "color": color,
+            "scale": scale,
         },
     ).toxml()
 
@@ -175,6 +178,7 @@ def generate_launch_description():
         DeclareLaunchArgument("namespace", default_value="drone"),
         DeclareLaunchArgument("entity", default_value="drone"),
         DeclareLaunchArgument("color", default_value=""),
+        DeclareLaunchArgument("scale", default_value="1.0"),
     ]
 
     return LaunchDescription(
diff --git a/CustomRobots/quadrotor/models/quadrotor/quadrotor.urdf.xacro b/CustomRobots/quadrotor/models/quadrotor/quadrotor.urdf.xacro
index dba755d8c..a6ecce517 100644
--- a/CustomRobots/quadrotor/models/quadrotor/quadrotor.urdf.xacro
+++ b/CustomRobots/quadrotor/models/quadrotor/quadrotor.urdf.xacro
@@ -7,11 +7,13 @@
   <xacro:property name="namespace" value="$(arg namespace)"/>
   <xacro:arg name="color" default=""/>
   <xacro:property name="color" value="$(arg color)"/>
+  <xacro:arg name="scale" default="1.0"/>
+  <xacro:property name="scale" value="$(arg scale)"/>
 
   <xacro:include filename="$(find custom_robots)/models/quadrotor/quadrotor_gz.urdf.xacro"/>
   <xacro:include filename="$(find custom_robots)/models/quadrotor/quadrotor_common.urdf.xacro"/>
 
-  <xacro:quadrotor namespace="${namespace}" color="${color}"/>
+  <xacro:quadrotor namespace="${namespace}" color="${color}" scale="${scale}"/>
 
   <xacro:if value="$(arg camera)">
     <xacro:camera xyz="0 0 0" rpy="0 0 0" mass="0.035" name="frontal_cam" parent="base_link" namespace="${namespace}"/>
diff --git a/CustomRobots/quadrotor/models/quadrotor/quadrotor_common.urdf.xacro b/CustomRobots/quadrotor/models/quadrotor/quadrotor_common.urdf.xacro
index 47f2decf9..ad159b333 100644
--- a/CustomRobots/quadrotor/models/quadrotor/quadrotor_common.urdf.xacro
+++ b/CustomRobots/quadrotor/models/quadrotor/quadrotor_common.urdf.xacro
@@ -30,7 +30,7 @@
     <color rgba="1 0 1 1.0"/>
   </material>
 
-  <xacro:macro name="rotor" params="rotor parent xyz color">
+  <xacro:macro name="rotor" params="rotor parent xyz color scale:='1.0'">
     <link name='rotor_${rotor}'>
       <inertial>
         <mass value="0.005"/>
@@ -39,12 +39,12 @@
 
       <collision>
         <geometry>
-          <cylinder length="0.005" radius="0.1"/>
+          <cylinder length="${0.005 * scale}" radius="${0.1 * scale}"/>
         </geometry>
       </collision>
       <visual>
         <geometry>
-          <mesh filename="$(find as2_gazebo_assets)/models/quadrotor_base/meshes/propeller_ccw.dae" scale="0.1 0.1 0.1"/>
+          <mesh filename="$(find as2_gazebo_assets)/models/quadrotor_base/meshes/propeller_ccw.dae" scale="${0.1 * scale} ${0.1 * scale} ${0.1 * scale}"/>
         </geometry>
         <material name="${color}"/>
       </visual>
@@ -62,7 +62,8 @@
     </joint>
   </xacro:macro>
 
-  <xacro:macro name="quadrotor" params="namespace color:=''">
+  <xacro:macro name="quadrotor" params="namespace color:='' scale:='1.0'">
+
     <!-- This is from quadrotor_base from as2 -->
     <link name="base_link">
       <gazebo>
@@ -74,12 +75,12 @@
       </inertial>
       <collision>
         <geometry>
-          <box size="0.47 0.47 0.11"/>
+          <box size="${0.47 * scale} ${0.47 * scale} ${0.11 * scale}"/>
         </geometry>
       </collision>
       <visual>
         <geometry>
-          <mesh filename="$(find as2_gazebo_assets)/models/quadrotor_base/meshes/quadrotor.dae"/>
+          <mesh filename="$(find as2_gazebo_assets)/models/quadrotor_base/meshes/quadrotor.dae" scale="${scale} ${scale} ${scale}"/>
         </geometry>
         <xacro:if value="${color != ''}">
           <material name="${color}"/>
@@ -87,31 +88,31 @@
       </visual>
 
       <visual name='marker_visual_1'>
-        <origin rpy="0 0 0" xyz="-0.07 0 0.065"/>
+        <origin rpy="0 0 0" xyz="${-0.07*scale} 0 ${0.065*scale}"/>
         <geometry>
-          <mesh filename="$(find as2_gazebo_assets)/models/quadrotor_base/meshes/led.dae"/>
+          <mesh filename="$(find as2_gazebo_assets)/models/quadrotor_base/meshes/led.dae" scale="${scale} ${scale} ${scale}"/>
         </geometry>
       </visual>
 
       <visual name='marker_visual_2'>
-        <origin rpy="-1.0472 -0 0.2" xyz="-0.08 0.037 0.04"/>
+        <origin rpy="-1.0472 -0 0.2" xyz="${-0.08*scale} ${0.037*scale} ${0.04*scale}"/>
         <geometry>
-          <mesh filename="$(find as2_gazebo_assets)/models/quadrotor_base/meshes/led.dae"/>
+          <mesh filename="$(find as2_gazebo_assets)/models/quadrotor_base/meshes/led.dae" scale="${scale} ${scale} ${scale}"/>
         </geometry>
       </visual>
 
       <visual name='marker_visual_3'>
-        <origin rpy="1.0472 -0 -0.1" xyz="-0.08 -0.035 0.04"/>
+        <origin rpy="1.0472 -0 -0.1" xyz="${-0.08*scale} ${-0.035*scale} ${0.04*scale}"/>
         <geometry>
-          <mesh filename="$(find as2_gazebo_assets)/models/quadrotor_base/meshes/led.dae"/>
+          <mesh filename="$(find as2_gazebo_assets)/models/quadrotor_base/meshes/led.dae" scale="${scale} ${scale} ${scale}"/>
         </geometry>
       </visual>
     </link>
 
-    <xacro:rotor rotor="0" parent="base_link" xyz="0.13 -0.22 0.023" color="Blue"/>
-    <xacro:rotor rotor="1" parent="base_link" xyz="-0.13 0.2 0.023" color="Red"/>
-    <xacro:rotor rotor="2" parent="base_link" xyz="0.13 0.22 0.023" color="Blue"/>
-    <xacro:rotor rotor="3" parent="base_link" xyz="-0.13 -0.2 0.023" color="Red"/>
+    <xacro:rotor rotor="0" parent="base_link" xyz="${0.13*scale} ${-0.22*scale} ${0.023*scale}" color="Blue" scale="${scale}"/>
+    <xacro:rotor rotor="1" parent="base_link" xyz="${-0.13*scale} ${0.2*scale} ${0.023*scale}" color="Red" scale="${scale}"/>
+    <xacro:rotor rotor="2" parent="base_link" xyz="${0.13*scale} ${0.22*scale} ${0.023*scale}" color="Blue" scale="${scale}"/>
+    <xacro:rotor rotor="3" parent="base_link" xyz="${-0.13*scale} ${-0.2*scale} ${0.023*scale}" color="Red" scale="${scale}"/>
 
     <xacro:tf freq="100" namespace="${namespace}"/>
     <xacro:imu mass="0.005" parent="base_link" namespace="${namespace}"/>
diff --git a/database/worlds.sql b/database/worlds.sql
index 4e2b2f833..f8ba1d636 100644
--- a/database/worlds.sql
+++ b/database/worlds.sql
@@ -334,8 +334,8 @@ COPY public.robots (id, name, launch_file_path, entity, extra_config, model_path
 28	Dingo Low Noise	/home/ws/src/CustomRobots/dingo/launch/dingo.launch.py	do150	noise:=low namespace:=do150	dingo/model/dingo/dingo.urdf.xacro
 29	Dingo Medium Noise	/home/ws/src/CustomRobots/dingo/launch/dingo.launch.py	do150	noise:=med namespace:=do150	dingo/model/dingo/dingo.urdf.xacro
 30	Dingo High Noise	/home/ws/src/CustomRobots/dingo/launch/dingo.launch.py	do150	noise:=high namespace:=do150	dingo/model/dingo/dingo.urdf.xacro
-31	Quadrotor Cat	/home/ws/src/CustomRobots/quadrotor/launch/quadrotor.launch.py	drone	sensor:=camera namespace:=drone color:=Orange	quadrotor/models/quadrotor/quadrotor.urdf.xacro
-32	Quadrotor Mouse	/home/ws/src/CustomRobots/quadrotor/launch/quadrotor.launch.py	drone_mouse	sensor:=camera namespace:=drone_mouse color:=Magenta	quadrotor/models/quadrotor/quadrotor.urdf.xacro
+31	Quadrotor Cat	/home/ws/src/CustomRobots/quadrotor/launch/quadrotor.launch.py	drone	sensor:=camera namespace:=drone scale:=3.0	quadrotor/models/quadrotor/quadrotor.urdf.xacro
+32	Quadrotor Mouse	/home/ws/src/CustomRobots/quadrotor/launch/quadrotor.launch.py	drone_mouse	sensor:=camera namespace:=drone_mouse color:=Magenta scale:=3.0	quadrotor/models/quadrotor/quadrotor.urdf.xacro
 \.
 
 --