diff --git a/description/robot_core.xacro b/description/robot_core.xacro
index 884739d..15473bb 100644
--- a/description/robot_core.xacro
+++ b/description/robot_core.xacro
@@ -79,25 +79,25 @@
     <joint name="chassis_joint" type="fixed">
         <parent link="base_link"/>
         <child link="chassis"/>
-        <origin xyz="${-wheel_offset_x} 0 ${-wheel_offset_z}"/>
+        <origin xyz="0 0 ${-wheel_offset_z}"/>
     </joint>
 
     <link name="chassis">
         <visual>
-            <origin xyz="${chassis_length/2} 0 ${chassis_height/2}"/>
+            <origin xyz="0 0 0"/>
             <geometry>
                 <box size="${chassis_length} ${chassis_width} ${chassis_height}"/>
             </geometry>
             <material name="orange"/>
         </visual>
         <collision>
-            <origin xyz="${chassis_length/2} 0 ${chassis_height/2}"/>
+            <origin xyz="0 0 0"/>
             <geometry>
                 <box size="${chassis_length} ${chassis_width} ${chassis_height}"/>
             </geometry>
         </collision>
         <xacro:inertial_box mass="0.5" x="${chassis_length}" y="${chassis_width}" z="${chassis_height}">
-            <origin xyz="${chassis_length/2} 0 ${chassis_height/2}" rpy="0 0 0"/>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
         </xacro:inertial_box>
     </link>