diff --git a/bluerobotics_parts/models/blueboat_chassis/blueboat_chassis.visual.glb b/bluerobotics_parts/models/blueboat_chassis/blueboat_chassis.visual.glb
deleted file mode 100644
index fdf7c63a..00000000
Binary files a/bluerobotics_parts/models/blueboat_chassis/blueboat_chassis.visual.glb and /dev/null differ
diff --git a/bluerobotics_parts/models/blueboat_chassis/blueboat_chassis_visual.glb b/bluerobotics_parts/models/blueboat_chassis/blueboat_chassis_visual.glb
new file mode 100644
index 00000000..860ddd9b
Binary files /dev/null and b/bluerobotics_parts/models/blueboat_chassis/blueboat_chassis_visual.glb differ
diff --git a/bluerobotics_parts/models/blueboat_chassis/model.sdf b/bluerobotics_parts/models/blueboat_chassis/model.sdf
index 9a825c8f..c4b5f703 100644
--- a/bluerobotics_parts/models/blueboat_chassis/model.sdf
+++ b/bluerobotics_parts/models/blueboat_chassis/model.sdf
@@ -3,14 +3,15 @@
   <model name="blueboat_chassis">
     <link name="blueboat_chassis_link">
       <visual name="blueboat_chassis_visual">
+        <pose>0 0 0 1.5708 0 1.5708</pose>
         <geometry>
           <mesh>
-            <uri>blueboat_chassis.visual.glb</uri>
+            <uri>blueboat_chassis_visual.glb</uri>
           </mesh>
         </geometry>
       </visual>
       <collision name="blueboat_chassis_collider_box">
-        <pose>-0.002666 -0.368156 0.131239 0.0 0.0 0.0</pose>
+        <pose>-0.368156 0.002666 0.131239 0.0 -0.0 -1.570796</pose>
         <geometry>
           <box>
             <size>0.439118 0.157103 0.079944</size>
@@ -18,7 +19,7 @@
         </geometry>
       </collision>
       <collision name="blueboat_chassis_collider_box_1">
-        <pose>-0.002666 0.368156 0.131239 0.0 -0.0 0.0</pose>
+        <pose>0.368156 0.002666 0.131239 0.0 -0.0 -1.570796</pose>
         <geometry>
           <box>
             <size>0.439118 0.157103 0.079944</size>
@@ -26,7 +27,7 @@
         </geometry>
       </collision>
       <collision name="blueboat_chassis_collider_box_2">
-        <pose>0.299228 0.0 0.126654 0.0 0.0 0.0</pose>
+        <pose>0.0 -0.299228 0.126654 0.0 -0.0 -1.570796</pose>
         <geometry>
           <box>
             <size>0.033317 0.572185 0.041201</size>
@@ -34,7 +35,7 @@
         </geometry>
       </collision>
       <collision name="blueboat_chassis_collider_box_3">
-        <pose>-0.297919 0.0 0.126654 0.0 0.0 0.0</pose>
+        <pose>0.0 0.297919 0.126654 0.0 -0.0 -1.570796</pose>
         <geometry>
           <box>
             <size>0.033317 0.572185 0.041201</size>
@@ -42,7 +43,7 @@
         </geometry>
       </collision>
       <collision name="blueboat_chassis_collider_cylinder">
-        <pose>0.026602 -0.36148 0.059302 -0.0 1.570796 0.0</pose>
+        <pose>-0.36148 -0.026602 0.059302 1.570796 1.570796 0.0</pose>
         <geometry>
           <cylinder>
             <radius>0.091714</radius>
@@ -51,7 +52,7 @@
         </geometry>
       </collision>
       <collision name="blueboat_chassis_collider_cylinder_1">
-        <pose>0.026602 0.36148 0.059302 -0.0 1.570796 0.0</pose>
+        <pose>0.36148 -0.026602 0.059302 1.570796 1.570796 0.0</pose>
         <geometry>
           <cylinder>
             <radius>0.091714</radius>
diff --git a/bluerobotics_parts/models/m200_weedless_prop_ccw/m200_weedless_prop_ccw.visual.glb b/bluerobotics_parts/models/m200_weedless_prop_ccw/m200_weedless_prop_ccw.visual.glb
deleted file mode 100644
index b6a0f3de..00000000
Binary files a/bluerobotics_parts/models/m200_weedless_prop_ccw/m200_weedless_prop_ccw.visual.glb and /dev/null differ
diff --git a/bluerobotics_parts/models/m200_weedless_prop_ccw/m200_weedless_prop_ccw_visual.glb b/bluerobotics_parts/models/m200_weedless_prop_ccw/m200_weedless_prop_ccw_visual.glb
new file mode 100644
index 00000000..79183525
Binary files /dev/null and b/bluerobotics_parts/models/m200_weedless_prop_ccw/m200_weedless_prop_ccw_visual.glb differ
diff --git a/bluerobotics_parts/models/m200_weedless_prop_ccw/model.sdf b/bluerobotics_parts/models/m200_weedless_prop_ccw/model.sdf
index 5adfb043..e10dc260 100644
--- a/bluerobotics_parts/models/m200_weedless_prop_ccw/model.sdf
+++ b/bluerobotics_parts/models/m200_weedless_prop_ccw/model.sdf
@@ -3,18 +3,19 @@
   <model name="m200_weedless_prop_ccw">
     <link name="m200_weedless_prop_ccw_link">
       <visual name="m200_weedless_prop_ccw_visual">
+        <pose>0 0 0 1.5708 0 1.5708</pose>
         <geometry>
           <mesh>
-            <uri>m200_weedless_prop_ccw.visual.glb</uri>
+            <uri>m200_weedless_prop_ccw_visual.glb</uri>
           </mesh>
         </geometry>
       </visual>
-      <collision name="m200_weedless_prop_ccw_collision">
-        <pose>0.0 0.0 0.0 -0.0 -1.570796 0.0</pose>
+      <collision name="m200_weedless_prop_ccwvisual_collider_cylinder">
+        <pose>-0.0 -0.001783 0.0 1.570796 0.0 0.0</pose>
         <geometry>
           <cylinder>
-            <radius>0.019513</radius>
-            <length>0.062258</length>
+            <radius>0.018806</radius>
+            <length>0.065988</length>
           </cylinder>
         </geometry>
       </collision>
diff --git a/bluerobotics_parts/models/m200_weedless_prop_cw/m200_weedless_prop_cw.visual.glb b/bluerobotics_parts/models/m200_weedless_prop_cw/m200_weedless_prop_cw.visual.glb
deleted file mode 100644
index 4c6b4420..00000000
Binary files a/bluerobotics_parts/models/m200_weedless_prop_cw/m200_weedless_prop_cw.visual.glb and /dev/null differ
diff --git a/bluerobotics_parts/models/m200_weedless_prop_cw/m200_weedless_prop_cw_visual.glb b/bluerobotics_parts/models/m200_weedless_prop_cw/m200_weedless_prop_cw_visual.glb
new file mode 100644
index 00000000..13b1380a
Binary files /dev/null and b/bluerobotics_parts/models/m200_weedless_prop_cw/m200_weedless_prop_cw_visual.glb differ
diff --git a/bluerobotics_parts/models/m200_weedless_prop_cw/model.sdf b/bluerobotics_parts/models/m200_weedless_prop_cw/model.sdf
index 95a0e8c6..99806f1d 100644
--- a/bluerobotics_parts/models/m200_weedless_prop_cw/model.sdf
+++ b/bluerobotics_parts/models/m200_weedless_prop_cw/model.sdf
@@ -3,14 +3,15 @@
   <model name="m200_weedless_prop_cw">
     <link name="m200_weedless_prop_cw_link">
       <visual name="m200_weedless_prop_cw_visual">
+        <pose>0 0 0 1.5708 0 1.5708</pose>
         <geometry>
           <mesh>
-            <uri>m200_weedless_prop_cw.visual.glb</uri>
+            <uri>m200_weedless_prop_cw_visual.glb</uri>
           </mesh>
         </geometry>
       </visual>
       <collision name="m200_weedless_prop_cw_collision">
-        <pose>0.000336 3e-05 -5e-06 -0.0 1.570796 0.0</pose>
+        <pose>-3e-05 0.000336 -5e-06 -1.570796 1.570796 0.0</pose>
         <geometry>
           <cylinder>
             <radius>0.019513</radius>