diff --git a/src/robot_description/models/master_ASM/urdf/robot.urdf.xacro b/src/robot_description/models/master_ASM/urdf/robot.urdf.xacro
index 2b186722..75e3c4c9 100644
--- a/src/robot_description/models/master_ASM/urdf/robot.urdf.xacro
+++ b/src/robot_description/models/master_ASM/urdf/robot.urdf.xacro
@@ -2,14 +2,19 @@
 
 <robot name="robot_base" xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-    <xacro:property name="chassisHeight" value="0.64"/>
+    <xacro:property name="chassisHeight" value="0.57476257962"/>
     <xacro:property name="chassisLength" value="1.1"/>
-    <xacro:property name="chassisWidth" value="0.512"/>
+    <xacro:property name="chassisWidth" value="0.5077"/>
     <xacro:property name="chassisMass" value="55"/>
     <xacro:property name="wheelWidth" value="0.11"/>
-    <xacro:property name="wheelRadius" value="0.15"/>
+    <xacro:property name="wheelRadius" value="0.16"/>
     <xacro:property name="wheelMass" value="2"/>
 
+    <!-- Distance between middle - middle front back wheels 0.873175 m -->
+    <!-- Distance between middle - middle Left and right wheels 0.62285 m -->
+    <!-- Distance from back of chassis to middle of back wheels 0.1534125 -->
+    <!-- Distance from bottem of chassis to middle of wheels 0.0475 (below) -->
+
     <xacro:property name="pretty" value="true"/>
 
     <material name="grey">
@@ -79,4 +84,4 @@
 
     <xacro:wheel_joint wheel="wheel4" x="-${chassisWidth/2+wheelWidth/3}" y="${chassisLength/2}" z="${chassisHeight/2}"/>
 
-</robot>
\ No newline at end of file
+</robot>