diff --git a/urdf/diffbot_description.urdf.xacro b/urdf/diffbot_description.urdf.xacro
index 9c73b65..900a9bc 100644
--- a/urdf/diffbot_description.urdf.xacro
+++ b/urdf/diffbot_description.urdf.xacro
@@ -174,7 +174,7 @@
     <!-- laser_link -->
     <link name="${prefix}laser_link">
       <visual>
-        <origin xyz="0 0 0" rpy="0 -0 0" />
+        <origin xyz="0 0 0" rpy="180 -0 0" />
         <geometry>
           <mesh filename="package://bot_mini_description/mesh/laser_link_visual.stl"/>
         </geometry>
@@ -183,13 +183,13 @@
         </material>
       </visual>
       <collision>
-        <origin xyz="0 0 0" rpy="0 -0 0" />
+        <origin xyz="0 0 0" rpy="180 -0 0" />
         <geometry>
           <mesh filename="package://bot_mini_description/mesh/laser_link_collision.stl"/>
         </geometry>
       </collision>
       <inertial>
-        <origin xyz="8.0502568807622093404e-21 2.7755575615628913511e-17 -0.01526549883836261258" rpy="0 0 0"/>
+        <origin xyz="8.0502568807622093404e-21 2.7755575615628913511e-17 -0.01526549883836261258" rpy="180 0 0"/>
         <mass value="0.065307030550339775776" />
         <inertia ixx="1.578111853789072904e-05" ixy="-4.8590457654361857326e-53" ixz="1.0816309858643350309e-52" iyy="1.5781118537890654501e-05" iyz="9.8088682514084147142e-38" izz="1.9760068210357054465e-05" />
       </inertial>
@@ -197,7 +197,7 @@
 
     <!-- laser_joint -->
     <joint name="${prefix}laser_joint" type="fixed">
-      <origin xyz="${base_length /2 +0.015 - base_offset} 0 ${z_offset * -1}" rpy="0 0 0"/>
+      <origin xyz="${base_length /2 -0.015 - base_offset} 0 ${z_offset * -1 +0.05}" rpy="0 0 0"/>
       <parent link="${prefix}base_link" />
       <child link="${prefix}laser_link" />
       <axis xyz="0 0 1"/>