diff --git a/urdf/diffbot_description.urdf.xacro b/urdf/diffbot_description.urdf.xacro
index 020ab89..bd4fba9 100644
--- a/urdf/diffbot_description.urdf.xacro
+++ b/urdf/diffbot_description.urdf.xacro
@@ -217,8 +217,6 @@
       </joint>
 
   </xacro:macro>
-        <!-- Include the macro to create the diffbot -->
-  <xacro:diffbot prefix=""/>
 </robot>
 
 
diff --git a/urdf/diffbot_description.urdf.xacro.bak b/urdf/diffbot_description.urdf.xacro.bak
index 35021e7..384857c 100644
--- a/urdf/diffbot_description.urdf.xacro.bak
+++ b/urdf/diffbot_description.urdf.xacro.bak
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-  <xacro:macro name="" params="prefix">
+  <xacro:macro name="diffbot" params="prefix">
 
   <!-- Constants for robot dimensions -->
   <xacro:property name="PI" value="3.1415926535897931"/>
@@ -81,7 +81,7 @@
     <joint name="${prefix}right_wheel_joint" type="continuous">
       <parent link="${prefix}base_link"/>
       <child link="${prefix}right_wheel"/>
-      <origin xyz="0 -0.07 ${z_offset}" rpy="0 0 0"/>
+      <origin xyz="0 0.07 ${z_offset}" rpy="0 0 0"/>
       <axis xyz="0 -1 0"/>
       <dynamics damping="0.2"/>
     </joint>