From 110fc4fd554fd3498653f4044af71d85c38a1dcc Mon Sep 17 00:00:00 2001
From: Bruce Allen <bdallen@nps.edu>
Date: Sat, 6 Jun 2020 15:31:52 -0700
Subject: [PATCH 1/4] move target further than 2 meters, align collision
 element, improve mesh

---
 models/blueview_m450/model.sdf                |  13 +-
 .../blueview_p900/meshes/COLLISION-p900.dae   |  70 +++++++
 models/blueview_p900/meshes/p900.dae          | 196 +++++-------------
 models/blueview_p900/meshes/p900.stl          | Bin 1417934 -> 0 bytes
 models/blueview_p900/meshes/tx-p900.png       | Bin 0 -> 252970 bytes
 models/blueview_p900/model.sdf                |  10 +-
 models/seabat_f50/model.sdf                   |   7 +-
 worlds/sonar_tank_blueview_m450.world         |   2 +-
 worlds/sonar_tank_blueview_p900.world         |   2 +-
 worlds/sonar_tank_seabat_f50.world            |   2 +-
 10 files changed, 144 insertions(+), 158 deletions(-)
 create mode 100644 models/blueview_p900/meshes/COLLISION-p900.dae
 delete mode 100644 models/blueview_p900/meshes/p900.stl
 create mode 100644 models/blueview_p900/meshes/tx-p900.png

diff --git a/models/blueview_m450/model.sdf b/models/blueview_m450/model.sdf
index 5987e9a..6a25dd5 100644
--- a/models/blueview_m450/model.sdf
+++ b/models/blueview_m450/model.sdf
@@ -3,20 +3,20 @@
   <model name="blueview_m450">
     <link name="forward_sonar_link">
       <inertial>
-        <pose>0 0 0 0 0 0</pose>
-        <mass>1</mass>
+        <pose>0 0 0 0 0 -1.570796</pose>
+        <mass>4.78</mass>
         <!-- Mark only - based on cylinder -->
         <inertia>
-          <ixx>0.1</ixx>
+          <ixx>0.0191</ixx>  <!-- as 2/5mr^2 -->
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.1</iyy>
+          <iyy>0.0191</iyy>
           <iyz>0</iyz>
-          <izz>0.1</izz>
+          <izz>0.0191</izz>
         </inertia>
       </inertial>
       <collision name="collision">
-        <pose>-0.08 0 0 0 1.571 0</pose>
+        <pose>0 0 0 0 0 -1.570796</pose>
         <geometry>
 	  <mesh>
 	    <uri>model://blueview_m450/meshes/COLLISION-BlueView-M450.dae</uri>
@@ -24,6 +24,7 @@
         </geometry>
       </collision>
       <visual name="visual">
+        <pose>0 0 0 0 0 -1.570796</pose>
         <geometry>
 	  <mesh>
 	    <uri>model://blueview_m450/meshes/BlueView-M450.dae</uri>
diff --git a/models/blueview_p900/meshes/COLLISION-p900.dae b/models/blueview_p900/meshes/COLLISION-p900.dae
new file mode 100644
index 0000000..1a5cbd9
--- /dev/null
+++ b/models/blueview_p900/meshes/COLLISION-p900.dae
@@ -0,0 +1,70 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.82.7 commit date:2020-02-12, commit time:16:20, hash:77d23b0bd76f</authoring_tool>
+    </contributor>
+    <created>2020-06-05T11:56:34</created>
+    <modified>2020-06-05T11:56:34</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects/>
+  <library_images/>
+  <library_geometries>
+    <geometry id="Cylinder-mesh" name="Cylinder">
+      <mesh>
+        <source id="Cylinder-mesh-positions">
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+              <param name="Y" type="float"/>
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+            </accessor>
+          </technique_common>
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+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="COLLISION-P900" name="COLLISION-P900" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Cylinder-mesh" name="COLLISION-P900"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/models/blueview_p900/meshes/p900.dae b/models/blueview_p900/meshes/p900.dae
index 462d262..164a80d 100644
--- a/models/blueview_p900/meshes/p900.dae
+++ b/models/blueview_p900/meshes/p900.dae
@@ -1,192 +1,108 @@
 <?xml version="1.0" encoding="utf-8"?>
-<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
   <asset>
     <contributor>
       <author>Blender User</author>
-      <authoring_tool>Blender 2.78.0 commit date:2016-09-13, commit time:17:02, hash:a267710</authoring_tool>
+      <authoring_tool>Blender 2.82.7 commit date:2020-02-12, commit time:16:20, hash:77d23b0bd76f</authoring_tool>
     </contributor>
-    <created>2016-09-14T09:11:28</created>
-    <modified>2016-09-14T09:11:28</modified>
+    <created>2020-06-05T11:54:53</created>
+    <modified>2020-06-05T11:54:53</modified>
     <unit name="meter" meter="1"/>
     <up_axis>Z_UP</up_axis>
   </asset>
-  <library_cameras>
-    <camera id="Camera-camera" name="Camera">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">49.13434</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <YF_dofdist>0</YF_dofdist>
-          <shiftx>0</shiftx>
-          <shifty>0</shifty>
-        </technique>
-      </extra>
-    </camera>
-  </library_cameras>
-  <library_lights>
-    <light id="Lamp-light" name="Lamp">
-      <technique_common>
-        <point>
-          <color sid="color">1 1 1</color>
-          <constant_attenuation>1</constant_attenuation>
-          <linear_attenuation>0</linear_attenuation>
-          <quadratic_attenuation>0.00111109</quadratic_attenuation>
-        </point>
-      </technique_common>
-      <extra>
-        <technique profile="blender">
-          <adapt_thresh>0.000999987</adapt_thresh>
-          <area_shape>1</area_shape>
-          <area_size>0.1</area_size>
-          <area_sizey>0.1</area_sizey>
-          <area_sizez>1</area_sizez>
-          <atm_distance_factor>1</atm_distance_factor>
-          <atm_extinction_factor>1</atm_extinction_factor>
-          <atm_turbidity>2</atm_turbidity>
-          <att1>0</att1>
-          <att2>1</att2>
-          <backscattered_light>1</backscattered_light>
-          <bias>1</bias>
-          <blue>1</blue>
-          <buffers>1</buffers>
-          <bufflag>0</bufflag>
-          <bufsize>2880</bufsize>
-          <buftype>2</buftype>
-          <clipend>30.002</clipend>
-          <clipsta>1.000799</clipsta>
-          <compressthresh>0.04999995</compressthresh>
-          <dist sid="blender_dist">29.99998</dist>
-          <energy sid="blender_energy">1</energy>
-          <falloff_type>2</falloff_type>
-          <filtertype>0</filtertype>
-          <flag>0</flag>
-          <gamma sid="blender_gamma">1</gamma>
-          <green>1</green>
-          <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
-          <horizon_brightness>1</horizon_brightness>
-          <mode>8192</mode>
-          <ray_samp>1</ray_samp>
-          <ray_samp_method>1</ray_samp_method>
-          <ray_samp_type>0</ray_samp_type>
-          <ray_sampy>1</ray_sampy>
-          <ray_sampz>1</ray_sampz>
-          <red>1</red>
-          <samp>3</samp>
-          <shadhalostep>0</shadhalostep>
-          <shadow_b sid="blender_shadow_b">0</shadow_b>
-          <shadow_g sid="blender_shadow_g">0</shadow_g>
-          <shadow_r sid="blender_shadow_r">0</shadow_r>
-          <sky_colorspace>0</sky_colorspace>
-          <sky_exposure>1</sky_exposure>
-          <skyblendfac>1</skyblendfac>
-          <skyblendtype>1</skyblendtype>
-          <soft>3</soft>
-          <spotblend>0.15</spotblend>
-          <spotsize>75</spotsize>
-          <spread>1</spread>
-          <sun_brightness>1</sun_brightness>
-          <sun_effect_type>0</sun_effect_type>
-          <sun_intensity>1</sun_intensity>
-          <sun_size>1</sun_size>
-          <type>0</type>
-        </technique>
-      </extra>
-    </light>
-  </library_lights>
-  <library_images/>
   <library_effects>
-    <effect id="Material_001-effect">
+    <effect id="p900-effect">
       <profile_COMMON>
+        <newparam sid="tx-p900_png-surface">
+          <surface type="2D">
+            <init_from>tx-p900_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="tx-p900_png-sampler">
+          <sampler2D>
+            <source>tx-p900_png-surface</source>
+          </sampler2D>
+        </newparam>
         <technique sid="common">
-          <phong>
+          <lambert>
             <emission>
               <color sid="emission">0 0 0 1</color>
             </emission>
-            <ambient>
-              <color sid="ambient">0 0 0 1</color>
-            </ambient>
             <diffuse>
-              <color sid="diffuse">0.06682502 0.06682502 0.06682502 1</color>
+              <texture texture="tx-p900_png-sampler" texcoord="UVMap"/>
             </diffuse>
-            <specular>
-              <color sid="specular">0.5 0.5 0.5 1</color>
-            </specular>
-            <shininess>
-              <float sid="shininess">50</float>
-            </shininess>
             <index_of_refraction>
-              <float sid="index_of_refraction">1</float>
+              <float sid="ior">1.45</float>
             </index_of_refraction>
-          </phong>
+          </lambert>
         </technique>
       </profile_COMMON>
     </effect>
   </library_effects>
+  <library_images>
+    <image id="tx-p900_png" name="tx-p900_png">
+      <init_from>tx-p900.png</init_from>
+    </image>
+  </library_images>
   <library_materials>
-    <material id="Material_001-material" name="Material_001">
-      <instance_effect url="#Material_001-effect"/>
+    <material id="p900-material" name="p900">
+      <instance_effect url="#p900-effect"/>
     </material>
   </library_materials>
   <library_geometries>
-    <geometry id="Cylinder-mesh" name="Cylinder">
+    <geometry id="Cylinder_001-mesh" name="Cylinder.001">
       <mesh>
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3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 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-        </polylist>
+        <triangles material="p900-material" count="526">
+          <input semantic="VERTEX" source="#Cylinder_001-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cylinder_001-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cylinder_001-mesh-map-0" offset="2" set="0"/>
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+        </triangles>
       </mesh>
     </geometry>
   </library_geometries>
-  <library_controllers/>
   <library_visual_scenes>
     <visual_scene id="Scene" name="Scene">
-      <node id="Camera" name="Camera" type="NODE">
-        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 0 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
-        <instance_camera url="#Camera-camera"/>
-      </node>
-      <node id="Lamp" name="Lamp" type="NODE">
-        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
-        <instance_light url="#Lamp-light"/>
-      </node>
-      <node id="Cylinder" name="Cylinder" type="NODE">
-        <matrix sid="transform">-2.23742e-9 0 0.07561781 -0.1345422 0 0.0511861 0 3.92898e-5 -0.0511861 0 -3.30536e-9 -9.79164e-4 0 0 0 1</matrix>
-        <instance_geometry url="#Cylinder-mesh" name="Cylinder">
+      <node id="p900" name="p900" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Cylinder_001-mesh" name="p900">
           <bind_material>
             <technique_common>
-              <instance_material symbol="Material_001-material" target="#Material_001-material"/>
+              <instance_material symbol="p900-material" target="#p900-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
             </technique_common>
           </bind_material>
         </instance_geometry>
diff --git a/models/blueview_p900/meshes/p900.stl b/models/blueview_p900/meshes/p900.stl
deleted file mode 100644
index 05378189cec24907f42c6283222567729e22e12f..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

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diff --git a/models/blueview_p900/model.sdf b/models/blueview_p900/model.sdf
index d8c62dc..cc8911e 100644
--- a/models/blueview_p900/model.sdf
+++ b/models/blueview_p900/model.sdf
@@ -15,12 +15,10 @@
         </inertia>
       </inertial>
       <collision name="collision">
-        <pose>-0.08 0 0 0 1.571 0</pose>
         <geometry>
-          <cylinder>
-            <radius>0.0635</radius>
-            <length>0.315</length>
-          </cylinder>
+	  <mesh>
+	    <uri>model://blueview_p900/meshes/COLLISION-p900.dae</uri>
+	  </mesh>
         </geometry>
       </collision>
       <visual name="visual">
@@ -46,7 +44,7 @@
             <format>R8G8B8</format>
           </image>
           <clip>
-            <near>02</near>
+            <near>02</near> <!-- optimal 2m-60m -->
             <far>60</far>
           </clip>
 	  <depth_camera>
diff --git a/models/seabat_f50/model.sdf b/models/seabat_f50/model.sdf
index b2eac0b..c02bf07 100644
--- a/models/seabat_f50/model.sdf
+++ b/models/seabat_f50/model.sdf
@@ -3,7 +3,7 @@
   <model name="SeaBat-F50 FLS">
     <link name="forward_sonar_link">
       <inertial>
-        <pose>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 1.570796</pose>
         <mass>11.7</mass>
         <inertia>
           <ixx>0.0306</ixx> <!-- 11.7*.56^2/12 if receiver mounted at end -->
@@ -15,7 +15,7 @@
         </inertia>
       </inertial>
       <collision name="collision">
-        <pose>-0.08 0 0 0 1.571 0</pose>
+        <pose>0 0 0 1.570796 0 1.570796</pose>
         <geometry>
           <cylinder>
             <radius>0.051</radius>
@@ -24,6 +24,7 @@
         </geometry>
       </collision>
       <visual name="visual">
+        <pose>0 0 0 0 0 1.570796</pose>
         <geometry>
 	  <mesh>
 	    <uri>model://seabat_f50/meshes/SeaBat-F50.dae</uri>
@@ -45,7 +46,7 @@
             <format>R8G8B8</format>
           </image>
           <clip>
-            <near>01</near> <!-- not defined -->
+            <near>2</near> <!-- not defined -->
             <far>600</far>
           </clip>
 	  <depth_camera>
diff --git a/worlds/sonar_tank_blueview_m450.world b/worlds/sonar_tank_blueview_m450.world
index 7a71eea..0f58b77 100644
--- a/worlds/sonar_tank_blueview_m450.world
+++ b/worlds/sonar_tank_blueview_m450.world
@@ -24,7 +24,7 @@
     <!-- cylinder target -->
     <include>
       <uri>model://cylinder_target</uri>
-      <pose>2.1 3.0 1.0 0 0 0</pose>
+      <pose>2.1 5.0 1.0 0 0 0</pose>
       <static>true</static>
     </include>
 
diff --git a/worlds/sonar_tank_blueview_p900.world b/worlds/sonar_tank_blueview_p900.world
index 5d97a6f..b03c055 100644
--- a/worlds/sonar_tank_blueview_p900.world
+++ b/worlds/sonar_tank_blueview_p900.world
@@ -24,7 +24,7 @@
     <!-- cylinder target -->
     <include>
       <uri>model://cylinder_target</uri>
-      <pose>2.1 3.0 1.0 0 0 0</pose>
+      <pose>2.1 5.0 1.0 0 0 0</pose>
       <static>true</static>
     </include>
 
diff --git a/worlds/sonar_tank_seabat_f50.world b/worlds/sonar_tank_seabat_f50.world
index 2584d25..80c7200 100644
--- a/worlds/sonar_tank_seabat_f50.world
+++ b/worlds/sonar_tank_seabat_f50.world
@@ -24,7 +24,7 @@
     <!-- cylinder target -->
     <include>
       <uri>model://cylinder_target</uri>
-      <pose>2.1 3.0 1.0 0 0 0</pose>
+      <pose>2.1 5.0 1.0 0 0 0</pose>
       <static>true</static>
     </include>
 

From 5982f2dd3d0cf943316773b2dc842d601f883910 Mon Sep 17 00:00:00 2001
From: Bruce Allen <bdallen@nps.edu>
Date: Mon, 8 Jun 2020 15:52:07 -0700
Subject: [PATCH 2/4] change orientation of SeaBat F50 FLS

---
 models/seabat_f50/model.sdf | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/models/seabat_f50/model.sdf b/models/seabat_f50/model.sdf
index c02bf07..81b347e 100644
--- a/models/seabat_f50/model.sdf
+++ b/models/seabat_f50/model.sdf
@@ -3,7 +3,7 @@
   <model name="SeaBat-F50 FLS">
     <link name="forward_sonar_link">
       <inertial>
-        <pose>0 0 0 0 0 1.570796</pose>
+        <pose>0 0 0 1.570796 0 0</pose>
         <mass>11.7</mass>
         <inertia>
           <ixx>0.0306</ixx> <!-- 11.7*.56^2/12 if receiver mounted at end -->
@@ -15,7 +15,7 @@
         </inertia>
       </inertial>
       <collision name="collision">
-        <pose>0 0 0 1.570796 0 1.570796</pose>
+        <pose>0 0 0 1.570796 0 0</pose>
         <geometry>
           <cylinder>
             <radius>0.051</radius>
@@ -24,7 +24,7 @@
         </geometry>
       </collision>
       <visual name="visual">
-        <pose>0 0 0 0 0 1.570796</pose>
+        <pose>0 0 0 0 1.570796 0</pose>
         <geometry>
 	  <mesh>
 	    <uri>model://seabat_f50/meshes/SeaBat-F50.dae</uri>

From b9ecbd98fc190965d825c57828ed51812f670df6 Mon Sep 17 00:00:00 2001
From: Bruce Allen <bdallen@nps.edu>
Date: Mon, 8 Jun 2020 15:55:13 -0700
Subject: [PATCH 3/4] change model name

---
 worlds/sonar_tank_seabat_f50.world | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/worlds/sonar_tank_seabat_f50.world b/worlds/sonar_tank_seabat_f50.world
index 80c7200..6c98188 100644
--- a/worlds/sonar_tank_seabat_f50.world
+++ b/worlds/sonar_tank_seabat_f50.world
@@ -31,7 +31,7 @@
     <!-- SeaBat F50 -->
     <include>
       <uri>model://seabat_f50</uri>
-      <name>blueview_p900</name>
+      <name>seabat_f50</name>
       <pose>2.1 1.0 1.0 0 0 1.5709</pose>
       <static>true</static>
     </include>

From 181104e8d5c83b7f6f52282a85d8d2d242cb3bde Mon Sep 17 00:00:00 2001
From: Bruce Allen <bdallen@nps.edu>
Date: Mon, 8 Jun 2020 16:37:48 -0700
Subject: [PATCH 4/4] adjust physics properties

---
 models/seabat_f50/model.sdf | 19 +++++++++----------
 1 file changed, 9 insertions(+), 10 deletions(-)

diff --git a/models/seabat_f50/model.sdf b/models/seabat_f50/model.sdf
index 81b347e..69aa12d 100644
--- a/models/seabat_f50/model.sdf
+++ b/models/seabat_f50/model.sdf
@@ -3,24 +3,23 @@
   <model name="SeaBat-F50 FLS">
     <link name="forward_sonar_link">
       <inertial>
-        <pose>0 0 0 1.570796 0 0</pose>
-        <mass>11.7</mass>
+        <pose>0 0 0 0 0 1.570796</pose>
+        <mass>8.2</mass>
         <inertia>
-          <ixx>0.0306</ixx> <!-- 11.7*.56^2/12 if receiver mounted at end -->
+          <ixx>0.151702733</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0</iyy>
+          <iyy>0.012730835</iyy>
           <iyz>0</iyz>
-          <izz>0.0306</izz>
+          <izz>0.150214768</izz>
         </inertia>
       </inertial>
       <collision name="collision">
-        <pose>0 0 0 1.570796 0 0</pose>
+        <pose>0 0 0 0 0 1.570796</pose>
         <geometry>
-          <cylinder>
-            <radius>0.051</radius>
-            <length>0.56</length>
-          </cylinder>
+          <box>
+            <size>0.46 0.0907 0.102</size>
+          </box>
         </geometry>
       </collision>
       <visual name="visual">