diff --git a/description/face.xacro b/description/face.xacro
index 3076e36..b2c160a 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}/2 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 a05f17d..2cd5d95 100644
--- a/description/robot_core.xacro
+++ b/description/robot_core.xacro
@@ -78,7 +78,7 @@
     <joint name="chassis_joint" type="fixed">
         <parent link="base_link"/>
         <child link="chassis"/>
-        <origin xyz="0 0 ${-wheel_offset_z}"/>
+        <origin xyz="-${chassis_length/2} 0 ${-wheel_offset_z}"/>
     </joint>
 
     <link name="chassis">
@@ -107,7 +107,7 @@
     <!-- LEFT WHEEL LINK -->
 
     <joint name="left_wheel_joint" type="continuous">
-        <parent link="base_link"/>
+        <parent link="chassis"/>
         <child link="left_wheel"/>
         <origin xyz="${chassis_length/2 - 0.070} ${wheel_offset_y/2 + wheel_thickness/2 + 0.01} 0" rpy="-${pi/2} 0 0" />
         <axis xyz="0 0 1"/>
@@ -140,7 +140,7 @@
     <!-- RIGHT WHEEL LINK -->
 
     <joint name="right_wheel_joint" type="continuous">
-        <parent link="base_link"/>
+        <parent link="chassis"/>
         <child link="right_wheel"/>
         <origin xyz="${chassis_length/2 - 0.070} -${wheel_offset_y/2 + wheel_thickness/2 + 0.01} 0" rpy="${pi/2} 0 0" />
         <axis xyz="0 0 -1"/>
@@ -173,7 +173,7 @@
     <joint name="caster_wheel_joint" type="fixed">
         <parent link="chassis"/>
         <child link="caster_wheel"/>
-        <origin xyz="${caster_wheel_offset_x} 0 ${caster_wheel_offset_z}"/>
+        <origin xyz="-${caster_wheel_offset_x*2} 0 ${caster_wheel_offset_z}"/>
     </joint>