diff --git a/polaris_ranger_ev/model.sdf b/polaris_ranger_ev/model.sdf
index f207483..c42cb24 100644
--- a/polaris_ranger_ev/model.sdf
+++ b/polaris_ranger_ev/model.sdf
@@ -313,6 +313,16 @@
         </material>
       </visual>
 -->
+      <!-- the following was used as a guide for aligning the steering wheel mesh -->
+      <!--visual name="visual_steering_cylinder">
+        <pose>0.35 0.30 1.3  0 -0.87 0</pose> 
+        <geometry>
+          <cylinder>
+            <radius>0.17</radius>
+            <length>0.01</length>
+          </cylinder>
+        </geometry>
+      </visual-->
     </link>
     <link name="rear_right_wheel">
       <pose>-0.85 -0.6 0.32 1.570796 0.0 0.0</pose>
@@ -642,7 +652,7 @@
     </link>
 
     <link name='steering_wheel'>
-      <pose>0.37 0.30 1.3  0 -0.8 0</pose> 
+      <pose>0.34 0.30 1.29  0 -0.87 0</pose> 
       <inertial>
         <mass>1.0</mass>
         <pose>0 0 0 0 0 0</pose>
@@ -660,7 +670,7 @@
 
       <collision name="collision">
         <!-- rotate mesh to get to X-forward -->
-        <pose>0 0 0 -0.8 0 -1.570796</pose>
+        <pose>0 0 0  -0.69 0 -1.570796</pose>
         <geometry>
           <mesh>
             <uri>model://polaris_ranger_ev/meshes/polaris.dae</uri>
@@ -674,7 +684,7 @@
 
       <visual name="visual">
         <!-- rotate mesh to get to X-forward -->
-        <pose>0 0 0 -0.8 0 -1.570796</pose>
+        <pose>0 0 0  -0.69 0 -1.570796</pose>
         <geometry>
           <mesh>
             <uri>model://polaris_ranger_ev/meshes/polaris.dae</uri>
@@ -826,14 +836,14 @@
       </axis>
     </joint>
     <joint name='steering_joint' type='revolute'>
-      <pose>0 0 0 1.570796 -0.8 0.0</pose> 
+      <pose>-0.002 0 0  0 0 0</pose>
       <parent>chassis</parent>
       <child>steering_wheel</child>
       <axis>
-        <xyz>-1 0 1.023</xyz>
+        <xyz>-1 0 0.84365</xyz>
         <limit>
-          <lower>-7.853000</lower>
-          <upper>7.853000</upper>
+          <lower>-3.14</lower>
+          <upper>3.14</upper>
         </limit>
       </axis>
     </joint>