diff --git a/simmechanics/CMakeLists.txt b/simmechanics/CMakeLists.txt
index e691e83..2623982 100644
--- a/simmechanics/CMakeLists.txt
+++ b/simmechanics/CMakeLists.txt
@@ -143,22 +143,22 @@ macro(generate_icub_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()