diff --git a/description/face.xacro b/description/face.xacro
index 4f05620..3076e36 100755
--- a/description/face.xacro
+++ b/description/face.xacro
@@ -4,7 +4,7 @@
     <joint name="face_joint" type="fixed">
         <parent link="chassis"/>
         <child link="face_link"/>
-        <origin xyz="${chassis_length} 0 ${chassis_height/2}" rpy="0 0 0"/>
+        <origin xyz="${chassis_length}/2 0 ${chassis_height/2}" rpy="0 0 0"/>
     </joint>
 
     <link name="face_link">
diff --git a/description/robot_core.xacro b/description/robot_core.xacro
index 5d9805c..a05f17d 100644
--- a/description/robot_core.xacro
+++ b/description/robot_core.xacro
@@ -205,7 +205,7 @@
     <joint name="lidar_joint" type="fixed">
         <parent link="chassis"/>
         <child link="laser_frame"/>
-        <origin xyz="${chassis_length -0.150} 0 ${chassis_height + 0.030}" rpy="0 0 0"/>
+        <origin xyz="${chassis_length/2 -0.150} 0 ${chassis_height + 0.030}" rpy="0 0 0"/>
     </joint>