diff --git a/flir_ptu_description/meshes/flir-ptu-camera-mount.stl b/flir_ptu_description/meshes/flir-ptu-camera-mount.stl
new file mode 100644
index 0000000..608577f
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diff --git a/flir_ptu_description/meshes/flir-ptu-pan-motor-collision.stl b/flir_ptu_description/meshes/flir-ptu-pan-motor-collision.stl
new file mode 100644
index 0000000..192d6d4
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diff --git a/flir_ptu_description/meshes/flir-ptu-pan-motor.stl b/flir_ptu_description/meshes/flir-ptu-pan-motor.stl
new file mode 100644
index 0000000..36aa450
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diff --git a/flir_ptu_description/meshes/flir-ptu-simple.stl b/flir_ptu_description/meshes/flir-ptu-simple.stl
deleted file mode 100644
index cb74336..0000000
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diff --git a/flir_ptu_description/meshes/flir-ptu-tilt-motor-collision.stl b/flir_ptu_description/meshes/flir-ptu-tilt-motor-collision.stl
new file mode 100644
index 0000000..4a98e3f
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diff --git a/flir_ptu_description/meshes/flir-ptu-tilt-motor.stl b/flir_ptu_description/meshes/flir-ptu-tilt-motor.stl
new file mode 100644
index 0000000..3a5af42
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diff --git a/flir_ptu_description/urdf/d46.urdf.xacro b/flir_ptu_description/urdf/d46.urdf.xacro
index d4f5551..2e25737 100644
--- a/flir_ptu_description/urdf/d46.urdf.xacro
+++ b/flir_ptu_description/urdf/d46.urdf.xacro
@@ -7,9 +7,20 @@
   <xacro:property name="tilt_down_range" value="0.82" />
   <xacro:property name="joint_effort" value="30" />
 
-  <xacro:macro name="d46_stepper_module"
-               params="ptu_name joint_name">
-    <link name="${ptu_name}_${joint_name}_link">
+  <xacro:macro name="d46_transmission" params="name">
+    <transmission name="${name}_trans">
+      <type>transmission_interface/SimpleTransmission</type>
+      <joint name="${name}">
+        <hardwareInterface>PositionJointInterface</hardwareInterface>
+      </joint>
+      <actuator name="${name}_motor">
+        <mechanicalReduction>1</mechanicalReduction>
+      </actuator>
+    </transmission>
+  </xacro:macro>
+
+  <xacro:macro name="ptu_d46" params="name pan_offset:=0.0">
+    <link name="${name}_tilt_link">
       <inertial>
         <mass value="0.65" />
         <origin xyz="0 0 0" rpy="0 0 0" />
@@ -19,57 +30,65 @@
         <material name="ptu_body_color">
           <color rgba="0.3 0.3 0.3 1.0" />
         </material>
-        <origin xyz="-0.0295 0.011 0" rpy="3.14 0 0" />
         <geometry>
-          <mesh filename="package://flir_ptu_description/meshes/flir-ptu-simple.stl"/>
+          <mesh filename="package://flir_ptu_description/meshes/flir-ptu-tilt-motor.stl"/>
         </geometry>
       </visual>
       <collision>
         <geometry>
-          <box size="0.045 0.065 0.044" />
+          <mesh filename="package://flir_ptu_description/meshes/flir-ptu-tilt-motor-collision.stl"/>
         </geometry>
-        <origin xyz="0 0.011 0" />
       </collision>
-      <collision>
+    </link>
+    <gazebo reference="${name}_tilt_link">
+        <material>Gazebo/DarkGrey</material>
+    </gazebo>
+
+    <link name="${name}_pan_link">
+      <inertial>
+        <mass value="0.65" />
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
+      </inertial>
+      <visual>
+        <material name="ptu_body_color">
+          <color rgba="0.3 0.3 0.3 1.0" />
+        </material>
         <geometry>
-          <box size="0.046 0.044 0.044" />
+          <mesh filename="package://flir_ptu_description/meshes/flir-ptu-pan-motor.stl"/>
         </geometry>
-        <origin xyz="-0.045 0.0215 0" />
-      </collision>
+      </visual>
       <collision>
         <geometry>
-          <cylinder length="0.015" radius="0.005" />
+          <mesh filename="package://flir_ptu_description/meshes/flir-ptu-pan-motor-collision.stl"/>
         </geometry>
-        <origin xyz="-0.074 0.021 0" rpy="0 1.57 0" />
       </collision>
     </link>
-    <gazebo reference="${ptu_name}_${joint_name}_link">
+    <gazebo reference="${name}_pan_link">
         <material>Gazebo/DarkGrey</material>
     </gazebo>
-  </xacro:macro>
-
-  <xacro:macro name="d46_transmission" params="name">
-    <transmission name="${name}_trans">
-      <type>transmission_interface/SimpleTransmission</type>
-      <joint name="${name}">
-        <hardwareInterface>PositionJointInterface</hardwareInterface>
-      </joint>
-      <actuator name="${name}_motor">
-        <mechanicalReduction>1</mechanicalReduction>
-      </actuator>
-    </transmission>
-  </xacro:macro>
 
-  <xacro:macro name="ptu_d46" params="name pan_offset:=0.0">
-    <d46_stepper_module ptu_name="${name}" joint_name="pan" />
-    <d46_stepper_module ptu_name="${name}" joint_name="tilt" />
     <link name="${name}_base_link">
        <inertial>
             <mass value="2e-06"/>
             <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
         </inertial>
     </link>
-    <link name="${name}_tilted_link"/>
+    <link name="${name}_tilted_link">
+      <visual>
+        <material name="ptu_body_color">
+          <color rgba="0.3 0.3 0.3 1.0" />
+        </material>
+        <geometry>
+          <mesh filename="package://flir_ptu_description/meshes/flir-ptu-camera-mount.stl"/>
+        </geometry>
+      </visual>
+      <collision>
+        <geometry>
+          <mesh filename="package://flir_ptu_description/meshes/flir-ptu-camera-mount.stl"/>
+        </geometry>
+      </collision>
+    </link>
     <link name="${name}_mount_link">
         <inertial>
             <mass value="2e-06"/>
@@ -77,18 +96,16 @@
         </inertial>
     </link>
 
-    <!-- There's an offset between the origin of the pan joint and the origin of
-         the overall device, which is between the mounting screws on its base. -->
     <joint name="${name}_base" type="fixed">
       <parent link="${name}_base_link"/>
       <child link="${name}_pan_link"/>
-      <origin xyz="0 -0.011 0.022"/>
+      <origin xyz="0 0 0"/>
     </joint>
 
     <!-- The pan joint -->
     <joint name="${name}_pan" type="revolute">
       <parent link="${name}_pan_link" />
-      <origin xyz="0 0 0.066" rpy="-1.5708 0 ${pan_offset}" />
+      <origin xyz="0 -0.00955 0.046774" rpy="-1.5708 0 ${pan_offset}" />
       <child link="${name}_tilt_link" />
       <axis xyz="0 -1 0" rpy="3.14159 0 0" />
       <limit lower="${-pan_range}" upper="${pan_range}"
@@ -100,7 +117,7 @@
     <!-- The tilt joint -->
     <joint name="${name}_tilt" type="revolute">
       <parent link="${name}_tilt_link" />
-      <origin xyz="0 0 0" rpy="-1.5708 0 0" />
+      <origin xyz="0 -0.043713 0" rpy="-1.5708 0 0" />
       <child link="${name}_tilted_link" />
       <axis xyz="0 1 0" />
       <limit lower="${-tilt_down_range}" upper="${tilt_up_range}"
@@ -113,7 +130,7 @@
     <joint name="${name}_mount" type="fixed">
       <parent link="${name}_tilted_link"/>
       <child link="${name}_mount_link"/>
-      <origin xyz="0 0 -0.03912" rpy="3.1416 0 0" />
+      <origin xyz="0 0 -0.039116" rpy="3.1416 0 0" />
     </joint>
 
   </xacro:macro>