diff --git a/urdf/diffbot_description.urdf.xacro b/urdf/diffbot_description.urdf.xacro
index d74fbc1..bd0ea0e 100644
--- a/urdf/diffbot_description.urdf.xacro
+++ b/urdf/diffbot_description.urdf.xacro
@@ -73,7 +73,7 @@
     <joint name="${prefix}right_wheel_joint" type="continuous">
         <parent link="${prefix}chassis"/>
         <child link="${prefix}right_wheel"/>
-        <origin xyz="${chassis_length/2 - 0.075} -${wheel_offset_y/2 + wheel_thickness/2 + 0.01} ${wheel_offset_z}" rpy="${pi/2} 0 0" />
+        <origin xyz="${chassis_length/2 - 0.075} -${wheel_offset_y + wheel_thickness/2 + 0.01} ${wheel_offset_z}" rpy="${pi/2} 0 0" />
         <axis xyz="0 0 -1"/>
         <limit effort="1" velocity="20" />
         <joint_properties friction="0.0"/>
@@ -104,7 +104,7 @@
     <joint name="${prefix}left_wheel_joint" type="continuous">
         <parent link="${prefix}chassis"/>
         <child link="${prefix}left_wheel"/>
-        <origin xyz="${chassis_length/2 - chassis_offset} ${wheel_offset_y/2 + wheel_thickness/2 + 0.01} ${wheel_offset_z}" rpy="-${pi/2} 0 0" />
+        <origin xyz="${chassis_length/2 - chassis_offset} ${wheel_offset_y + wheel_thickness/2 + 0.01} ${wheel_offset_z}" rpy="-${pi/2} 0 0" />
         <axis xyz="0 0 1"/>
     </joint>