diff --git a/models/tiltrotor/model.sdf b/models/tiltrotor/model.sdf
index 619fc9c..29dd0ea 100644
--- a/models/tiltrotor/model.sdf
+++ b/models/tiltrotor/model.sdf
@@ -166,7 +166,7 @@
     </joint>
 
     <link name='motor_0'>
-      <pose>0.35 -0.35 0.02 0 0 0</pose>
+      <pose>0.35 -0.35 0.045 0 0 0</pose>
       <inertial>
         <pose>0 0 0 0 0 0</pose>
         <mass>0.05</mass>
@@ -220,8 +220,8 @@
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
-          <lower>-1.5</lower>
-          <upper>1.5</upper>
+          <lower>0.</lower>
+          <upper>1.57</upper>
         </limit>
         <dynamics>
           <friction>1.0</friction>
@@ -232,7 +232,6 @@
       </axis>
     </joint>
 
-
     <link name='rotor_0'>
       <pose>0.35 -0.35 0.07 0 0 0</pose>
       <inertial>
@@ -364,7 +363,7 @@
     </joint>
 
     <link name='motor_2'>
-      <pose>0.35 0.35 0.02 0 0 0</pose>
+      <pose>0.35 0.35 0.045 0 0 0</pose>
       <inertial>
         <pose>0 0 0 0 0 0</pose>
         <mass>0.05</mass>
@@ -418,8 +417,8 @@
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
-          <lower>-1.5</lower>
-          <upper>1.5</upper>
+          <lower>0.</lower>
+          <upper>1.57</upper>
         </limit>
         <dynamics>
           <friction>1.0</friction>
@@ -430,7 +429,6 @@
       </axis>
     </joint>
 
-
     <link name='rotor_2'>
       <pose>0.35 0.35 0.07 0 0 0</pose>
       <inertial>
@@ -467,7 +465,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>model://tiltrotor/meshes/iris_prop_ccw.dae</uri>
+            <uri>model://tiltrotor/meshes/iris_prop_cw.dae</uri>
           </mesh>
         </geometry>
         <material> <!-- DarkGrey-->
@@ -532,7 +530,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>model://tiltrotor/meshes/iris_prop_ccw.dae</uri>
+            <uri>model://tiltrotor/meshes/iris_prop_cw.dae</uri>
           </mesh>
         </geometry>
         <material> <!-- DarkGrey-->