diff --git a/lbr_description/urdf/iiwa14/iiwa14_description.urdf.xacro b/lbr_description/urdf/iiwa14/iiwa14_description.urdf.xacro
index 430e6fca..cff2e900 100644
--- a/lbr_description/urdf/iiwa14/iiwa14_description.urdf.xacro
+++ b/lbr_description/urdf/iiwa14/iiwa14_description.urdf.xacro
@@ -292,7 +292,7 @@
         <joint name="joint_ee" type="fixed">
             <parent link="link_7" />
             <child link="link_ee" />
-            <origin xyz="0 0 0.045" rpy="0 0 0" />
+            <origin xyz="0 0 0.035" rpy="0 0 0" />
         </joint>
 
         <link name="link_ee">
diff --git a/lbr_description/urdf/med14/med14_description.urdf.xacro b/lbr_description/urdf/med14/med14_description.urdf.xacro
index e3a19946..59ece9c7 100644
--- a/lbr_description/urdf/med14/med14_description.urdf.xacro
+++ b/lbr_description/urdf/med14/med14_description.urdf.xacro
@@ -292,7 +292,7 @@
         <joint name="joint_ee" type="fixed">
             <parent link="link_7" />
             <child link="link_ee" />
-            <origin xyz="0 0 0.045" rpy="0 0 0" />
+            <origin xyz="0 0 0.035" rpy="0 0 0" />
         </joint>
 
         <link name="link_ee">