  The goal of these lecture notes is to present in a unified way various models
for the dynamics of aligning self-propelled rigid bodies at different scales
and the links between them. The models and methods are inspired from [12,13],
but, in addition, we introduce a new model and apply on it the same methods.
While the new model has its own interest, our aim is also to emphasize the
methods by demonstrating their adaptability and by presenting them in a unified
and simplified way. Furthermore, from the various microscopic models we derive
the same macroscopic model, which is a good indicator of its universality.
