diff --git a/CHANGELOG.md b/CHANGELOG.md
index e9748620..9d147402 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -7,6 +7,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## [Unreleased]
 
+- Fixed regression in 0.3.4 that moved (in Gazebo-related models) the collision of the sole links to be higher, resulting in the `(r|l)_ankle_2` link being in contact with the ground and resulting in unstable contacts when using the models in Gazebo Classic (https://github.com/icub-tech-iit/ergocub-software/issues/174, https://github.com/icub-tech-iit/ergocub-software/issues/175)
+
 ## [0.3.4] - 2023-08-28
 
 ### urdf
diff --git a/urdf/simmechanics/CMakeLists.txt b/urdf/simmechanics/CMakeLists.txt
index 53f18f75..2b70b368 100644
--- a/urdf/simmechanics/CMakeLists.txt
+++ b/urdf/simmechanics/CMakeLists.txt
@@ -123,22 +123,22 @@ macro(generate_ergocub_simmechanics)
     geometricShape:
       shape: box
       size: 0.117 0.100 0.006
-      origin: \"0.0 0.0 0.003 0.0 0.0 0.0\"
+      origin: \"0.0 0.0 -0.0193 0.0 0.0 0.0\"
   - linkName: r_foot_rear
     geometricShape:
       shape: box
       size: 0.117 0.100 0.006
-      origin: \"0.0 0.0 0.003 0.0 0.0 0.0\"
+      origin: \"0.0 0.0 -0.0193 0.0 0.0 0.0\"
   - linkName: l_foot_front
     geometricShape:
       shape: box
       size: 0.117 0.100 0.006
-      origin: \"0.0 0.0 0.003 0.0 0.0 0.0\"
+      origin: \"0.0 0.0 -0.0193 0.0 0.0 0.0\"
   - linkName: l_foot_rear
     geometricShape:
       shape: box
       size: 0.117 0.100 0.006
-      origin: \"0.0 0.0 0.003 0.0 0.0 0.0\"
+      origin: \"0.0 0.0 -0.0193 0.0 0.0 0.0\"
 ")
     endif()
 
@@ -149,22 +149,22 @@ macro(generate_ergocub_simmechanics)
         geometricShape:
           shape: box
           size: 0.117 0.100 0.006
-          origin: \"0.0 0.0 0.003 0.0 0.0 0.0\"
+          origin: \"0.0 0.0 -0.0193 0.0 0.0 0.0\"
       - linkName: r_foot_rear
         geometricShape:
           shape: box
           size: 0.117 0.100 0.006
-          origin: \"0.0 0.0 0.003 0.0 0.0 0.0\"
+          origin: \"0.0 0.0 -0.0193 0.0 0.0 0.0\"
       - linkName: l_foot_front
         geometricShape:
           shape: box
           size: 0.117 0.100 0.006
-          origin: \"0.0 0.0 0.003 0.0 0.0 0.0\"
+          origin: \"0.0 0.0 -0.0193 0.0 0.0 0.0\"
       - linkName: l_foot_rear
         geometricShape:
           shape: box
           size: 0.117 0.100 0.006
-          origin: \"0.0 0.0 0.003 0.0 0.0 0.0\"
+          origin: \"0.0 0.0 -0.0193 0.0 0.0 0.0\"
       - linkName: r_hip_1
         geometricShape:
           shape: box