diff --git a/urdf/diffbot_description.urdf.xacro b/urdf/diffbot_description.urdf.xacro
index 6a93031..273057b 100644
--- a/urdf/diffbot_description.urdf.xacro
+++ b/urdf/diffbot_description.urdf.xacro
@@ -7,10 +7,10 @@
     <xacro:property name="PI" value="3.1415926535897931"/>
     <xacro:property name="base_mass" value="0.3" />
     <!-- arbitrary value for base mass -->
-    <xacro:property name="base_width" value="0.25" />
+    <xacro:property name="base_width" value="0.26" />
     <!-- Updated wheel spacing to 25cm -->
     <xacro:property name="base_length" value="0.34" />
-    <xacro:property name="base_height" value="0.1" />
+    <xacro:property name="base_height" value="0.123" />
     <xacro:property name="wheel_mass" value="0.3" />
     <!-- arbitrary value for wheel mass -->
     <xacro:property name="wheel_len" value="0.020" />
@@ -35,7 +35,7 @@
     <!-- Base Link -->
     <link name="${prefix}base_link">
       <visual>
-        <origin xyz="0 0 0" rpy="0 -0 0" />
+        <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
           <mesh filename="file://$(find bot_mini_description)/mesh/base_link_visual.stl"/>
         </geometry>
@@ -63,12 +63,13 @@
     <joint name="${prefix}base_footprint_joint" type="fixed">
       <parent link="${prefix}base_link" />
       <child link="${prefix}base_footprint" />
+      <origin xyz="0 0 ${z_offset}" rpy="0 0 0" />
     </joint>
 
     <!-- right wheel joint -->
     <!-- fixed wheel joint for testing, type was continuous -->
     <joint name="${prefix}right_wheel_joint" type="continuous">
-      <origin xyz="6.9388939039072283776e-17 -0.125 -0.05999999999999999778" rpy="-1.57079632679489678 -1.1660544913393859426e-16 6.9388939039072283776e-17" />
+      <origin xyz="$(base_length/2) -0.125 ${z_offset}" rpy="0 0 0" />
       <parent link="${prefix}base_link" />
       <child link="${prefix}right_wheel" />
       <axis xyz="0 0 -1"/>
@@ -103,7 +104,7 @@
     <!-- fixed wheel joint for testing, type was continuous -->
     <!-- left wheel joint -->
     <joint name="${prefix}left_wheel_joint" type="continuous">
-      <origin xyz="-5.5511151231257827021e-17 0.12500000000000005551 -0.060000000000000011657" rpy="1.570796326794896558 -1.6964751660994284333e-16 1.7347234759768063549e-16" />
+      <origin xyz="${(base_length/2)} 0.125 ${z_offset}" rpy="0 0 0" />
       <parent link="${prefix}base_link" />
       <child link="${prefix}left_wheel" />
       <axis xyz="0 0 -1" />
@@ -137,7 +138,7 @@
 
     <!-- caster wheel joint -->
     <joint name="${prefix}caster_wheel_joint" type="fixed">
-      <origin xyz="-0.29000000000000003553 -1.236754434711827603e-16 -0.019999999999999969191" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
+      <origin xyz="-${(base_length/2)} 0 -0.02" rpy="0 0 ${PI}" />
       <parent link="${prefix}base_link" />
       <child link="${prefix}caster_wheel" />
       <axis xyz="0 0 1"/>
@@ -195,7 +196,7 @@
 
     <!-- laser_joint -->
     <joint name="${prefix}laser_joint" type="fixed">
-      <origin xyz="0 ${base_length/2} ${z_offset}" rpy="0 0 0"/>
+      <origin xyz="${(base_length/2)-0.035} 0 0" rpy="0 0 0"/>
       <parent link="${prefix}base_link" />
       <child link="${prefix}laser_link" />
       <axis xyz="0 0 1"/>
@@ -230,7 +231,7 @@
 
     <!-- Camera Joint -->
     <joint name="${prefix}camera_joint" type="fixed">
-      <origin xyz="0.040000000000000007772 1.3877787807814456755e-17 -4.4408920985006270245e-18" rpy="6.1062266354383530837e-16 1.1102230246251567869e-16 3.141592653589793116" />
+      <origin xyz="${base_length/2} 0 0" rpy="0 0 ${PI}" />
       <parent link="${prefix}base_link" />
       <child link="${prefix}camera_link" />
       <axis xyz="0 0 1"/>