diff --git a/urdf/diffbot_description.urdf.xacro b/urdf/diffbot_description.urdf.xacro
index 9b27b67..d74fbc1 100644
--- a/urdf/diffbot_description.urdf.xacro
+++ b/urdf/diffbot_description.urdf.xacro
@@ -16,7 +16,7 @@
     <xacro:property name="wheel_thickness" value="0.020"/>
     <xacro:property name="wheel_mass" value="0.02"/>
     <xacro:property name="wheel_offset_x" value="0.285748"/>
-    <xacro:property name="wheel_offset_y" value="0.33675"/>
+    <xacro:property name="wheel_offset_y" value="0.13"/>
     <xacro:property name="wheel_offset_z" value="-0.035"/>
     <xacro:property name="caster_wheel_radius" value="0.04"/>
     <xacro:property name="caster_wheel_mass" value="0.01"/>
@@ -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 - 0.075} ${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/2 + wheel_thickness/2 + 0.01} ${wheel_offset_z}" rpy="-${pi/2} 0 0" />
         <axis xyz="0 0 1"/>
     </joint>