diff --git a/ext/Render.jl b/ext/Render.jl
index b454e463..b7162081 100644
--- a/ext/Render.jl
+++ b/ext/Render.jl
@@ -509,7 +509,7 @@ function render!(scene, ::typeof(BodyBox), sys, sol, t)
     @assert isapprox(det(R0), 1.0, atol=1e-6)
     # NOTE: The rotation by this R and the translation with r_shape needs to be double checked
 
-    origin = Vec3f(0, -width/2, -height/2) + r_shape
+    origin = Vec3f(-length/2, -width/2, -height/2) + r_shape
     extent = Vec3f(length, width, height) 
     thing = Makie.Rect3f(origin, extent)
     m = mesh!(scene, thing; color, specular = Vec3f(1.5))
diff --git a/ext/URDF.jl b/ext/URDF.jl
index e5769cfa..ba89ad28 100644
--- a/ext/URDF.jl
+++ b/ext/URDF.jl
@@ -172,7 +172,7 @@ function parse_body(graph, xml_link::XMLElement)
     if R != I
         @warn "Ignoring rotation of link $linkname"
     end
-    if norm(r) == 0 || type === :sphere
+    if type === :sphere
         radius = geometry.radius
         "$(Symbol(linkname)) = Body(; m=$(mass), r_cm=$(r_cm), I_11 = $(inertia[1,1]), I_22 = $(inertia[2,2]), I_33 = $(inertia[3,3]), I_21 = $(inertia[2,1]), I_31 = $(inertia[3,1]), I_32 = $(inertia[3,2]), color=$(color), radius=$(radius), sparse_I=true)"
     elseif type === :cylinder
@@ -184,10 +184,11 @@ function parse_body(graph, xml_link::XMLElement)
         length = size[1]
         width = size[2]
         height = size[3]
-        "$(Symbol(linkname)) = BodyBox(; r=$(r), m=$(mass), r_cm=$(r_cm), body.I_11 = $(inertia[1,1]), body.I_22 = $(inertia[2,2]), body.I_33 = $(inertia[3,3]), body.I_21 = $(inertia[2,1]), body.I_31 = $(inertia[3,1]), body.I_32 = $(inertia[3,2]), color=$(color), length=$(length), width=$(width), height=$(height), sparse_I=true)"
-
+        if iszero(r)
+            r = [1, 0, 0]
+        end
+        "$(Symbol(linkname)) = BodyBox(; r=$(r), body.m=$(mass), body.r_cm=$(r_cm), body.I_11 = $(inertia[1,1]), body.I_22 = $(inertia[2,2]), body.I_33 = $(inertia[3,3]), body.I_21 = $(inertia[2,1]), body.I_31 = $(inertia[3,1]), body.I_32 = $(inertia[3,2]), color=$(color), length=$(length), width=$(width), height=$(height))"
     end
-
 end
 
 default_modelname(filename) = uppercasefirst(splitext(basename(filename))[1])
diff --git a/test/urdf/doublependulum.urdf b/test/urdf/doublependulum.urdf
index 72ab4b3e..49b64d6a 100644
--- a/test/urdf/doublependulum.urdf
+++ b/test/urdf/doublependulum.urdf
@@ -49,7 +49,7 @@
   <joint name="shoulder" type="continuous">
     <parent link="base_link" />
     <child link="upper_link" />
-    <origin xyz="0 .15 0" />
+    <origin xyz=".15 0 0" />
     <axis xyz="1 0 0" />
     <dynamics damping="0.1" />
   </joint>
@@ -57,7 +57,7 @@
   <joint name="elbow" type="continuous">
     <parent link="upper_link" />
     <child link="lower_link" />
-    <origin xyz="0 .1 -1" />
+    <origin xyz=".1 0 -1" />
     <axis xyz="1 0 0" />
     <dynamics damping="0.1" />
   </joint>