diff --git a/iCub/robots/iCubGazeboV3/model.urdf b/iCub/robots/iCubGazeboV3/model.urdf
index ad020d3..c1a5fd9 100644
--- a/iCub/robots/iCubGazeboV3/model.urdf
+++ b/iCub/robots/iCubGazeboV3/model.urdf
@@ -266,7 +266,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.0 0.0 0.003" rpy="0.0 0.0 0.0"/>
+      <origin xyz="0.0 0.0 -0.0193" rpy="0.0 0.0 0.0"/>
       <geometry>
         <box size="0.117 0.1 0.006"/>
       </geometry>
@@ -294,7 +294,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.0 0.0 0.003" rpy="0.0 0.0 0.0"/>
+      <origin xyz="0.0 0.0 -0.0193" rpy="0.0 0.0 0.0"/>
       <geometry>
         <box size="0.117 0.1 0.006"/>
       </geometry>
@@ -1277,7 +1277,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.0 0.0 0.003" rpy="0.0 0.0 0.0"/>
+      <origin xyz="0.0 0.0 -0.0193" rpy="0.0 0.0 0.0"/>
       <geometry>
         <box size="0.117 0.1 0.006"/>
       </geometry>
@@ -1312,7 +1312,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0.0 0.0 0.003" rpy="0.0 0.0 0.0"/>
+      <origin xyz="0.0 0.0 -0.0193" rpy="0.0 0.0 0.0"/>
       <geometry>
         <box size="0.117 0.1 0.006"/>
       </geometry>