diff --git a/mg_wheel_interface/assets/mg_base.urdf b/mg_wheel_interface/assets/mg_base.urdf
index d65eb8b..f5259f4 100644
--- a/mg_wheel_interface/assets/mg_base.urdf
+++ b/mg_wheel_interface/assets/mg_base.urdf
@@ -21,11 +21,12 @@
     </link>
 
     <link name="left-wheel">
+
         <visual>
             <geometry>
                 <cylinder radius="0.1" length="0.05"/>
             </geometry>
-            <origin xyz="0 0 0" rpy="1.57 0 0" />
+            <origin xyz="0 0 0" rpy="0 0 0" />
             <material name="gray" />
         </visual>
     </link>
@@ -35,21 +36,22 @@
             <geometry>
                 <cylinder radius="0.1" length="0.05"/>
             </geometry>
-            <origin xyz="0 0 0" rpy="1.57 0 0" />
+            <origin xyz="0 0 0." rpy="0 0 0" />
             <material name="gray" />
         </visual>
     </link>
-
     <joint name="right_motor" type="continuous">
         <parent link="base-link"/>
         <child link="right-wheel"/>
-        <origin xyz="0 -0.25 0.1" rpy="0 0 3.141592" />
+        <origin xyz="0 -0.25 0.1" rpy="1.57 0 0" />
+        <axis xyz="0 0 1"/>
     </joint>
 
     <joint name="left_motor" type="continuous">
         <parent link="base-link"/>
         <child link="left-wheel"/>
-        <origin xyz="0 0.25 0.1" rpy="0 0 0" />
+        <origin xyz="0 0.25 0.1" rpy="1.57 0 0" />
+        <axis xyz="0 0 1"/>
     </joint>