diff --git a/ur_description/urdf/ur10.urdf.xacro b/ur_description/urdf/ur10.urdf.xacro
index 47554de5c..a2ce23591 100644
--- a/ur_description/urdf/ur10.urdf.xacro
+++ b/ur_description/urdf/ur10.urdf.xacro
@@ -270,8 +270,8 @@
           <mesh filename="package://ur_description/meshes/ur10/collision/wrist3.stl"/>
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.075" length="0.12" mass="${wrist_3_mass}">
-        <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+      <xacro:cylinder_inertial radius="0.045" length="0.0305" mass="${wrist_3_mass}">
+        <origin xyz="0.0 0.0 ${-0.0305/2.0}" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>