diff --git a/CHANGELOG.md b/CHANGELOG.md
index 161888f2..f650e2c0 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -7,8 +7,14 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## [Unreleased]
 
+### urdf
+- Fix location of `l/r_sole` frames(https://github.com/icub-tech-iit/ergocub-software/issues/186)
+
 ## [0.5.0] - 2023-10-26
 
+### urdf
+- Fixed wobbling of the models after moving feet link frames
+
 ## [0.4.0] - 2023-09-04
 
 ### urdf
diff --git a/tests/ergocub-model-test.cpp b/tests/ergocub-model-test.cpp
index baa5e97a..15ad30fe 100644
--- a/tests/ergocub-model-test.cpp
+++ b/tests/ergocub-model-test.cpp
@@ -163,7 +163,7 @@ bool checkBaseLink(iDynTree::KinDynComputations & comp)
     return true;
 }
 
-bool checkSolesAreParallel(iDynTree::KinDynComputations & comp)
+bool checkSolesAreParallelAndCorrectlyPlaced(iDynTree::KinDynComputations & comp)
 {
     iDynTree::LinkIndex rootLinkIdx = comp.getFrameIndex("root_link");
 
@@ -192,6 +192,32 @@ bool checkSolesAreParallel(iDynTree::KinDynComputations & comp)
     iDynTree::Transform root_H_l_sole = comp.getRelativeTransform(rootLinkIdx,l_sole);
     iDynTree::Transform root_H_r_sole = comp.getRelativeTransform(rootLinkIdx,r_sole);
 
+    iDynTree::Transform root_H_l_sole_expected(iDynTree::Rotation(1, 0, 0,
+                                                                  0, 1, 0,
+                                                                  0, 0, 1),
+                                               iDynTree::Position(0.04403,0.0744,-0.7793));
+    iDynTree::Transform root_H_r_sole_expected(iDynTree::Rotation(1, 0, 0,
+                                                                  0, 1, 0,
+                                                                  0, 0, 1),
+                                               iDynTree::Position(0.04403,-0.0744,-0.7793));
+
+
+    if (!checkTransformAreEqual(root_H_l_sole, root_H_l_sole_expected, 1e-5))
+    {
+        std::cerr << "ergocub-model-test : transform between root_H_l_sole is not the expected one, test failed." << std::endl;
+        std::cerr << "ergocub-model-test : root_H_l_sole :" << root_H_l_sole.toString() << std::endl;
+        std::cerr << "ergocub-model-test : root_H_l_sole_expected :" << root_H_l_sole_expected.toString() << std::endl;
+        return false;
+    }
+
+    if (!checkTransformAreEqual(root_H_r_sole, root_H_r_sole_expected, 1e-5))
+    {
+        std::cerr << "ergocub-model-test : transform between root_H_r_sole is not the expected one, test failed." << std::endl;
+        std::cerr << "ergocub-model-test : root_H_r_sole :" << root_H_r_sole.toString() << std::endl;
+        std::cerr << "ergocub-model-test : root_H_r_sole_expected :" << root_H_r_sole_expected.toString() << std::endl;
+        return false;
+    }
+
     // height of the sole should be equal
     double l_sole_height = root_H_l_sole.getPosition().getVal(2);
     double r_sole_height = root_H_r_sole.getPosition().getVal(2);
@@ -446,21 +472,21 @@ bool checkFTSensorsAreEvenAndNotNull(iDynTree::ModelLoader & mdlLoader)
 }
 
 
-bool checkFTSensorIsCorrectlyOriented(iDynTree::KinDynComputations & comp,
+bool checkFrameIsCorrectlyOriented(iDynTree::KinDynComputations & comp,
                                       const iDynTree::Rotation& expected,
-                                      const std::string& sensorName)
+                                      const std::string& frameName)
 {
     // Depending on the ergocub model, the sensor could be absent
-    if (!comp.model().isFrameNameUsed(sensorName))
+    if (!comp.model().isFrameNameUsed(frameName))
     {
         return true;
     }
 
-    iDynTree::Rotation actual = comp.getRelativeTransform("root_link", sensorName).getRotation();
+    iDynTree::Rotation actual = comp.getRelativeTransform("root_link", frameName).getRotation();
 
     if (!checkMatrixAreEqual(expected, actual, 1e-3))
     {
-        std::cerr << "ergocub-model-test : transform between root_link and " << sensorName << " is not the expected one, test failed." << std::endl;
+        std::cerr << "ergocub-model-test : transform between root_link and " << frameName << " is not the expected one, test failed." << std::endl;
         std::cerr << "ergocub-model-test : Expected transform : " << expected.toString() << std::endl;
         std::cerr << "ergocub-model-test : Actual transform : " << actual.toString() << std::endl;
         return false;
@@ -470,6 +496,7 @@ bool checkFTSensorIsCorrectlyOriented(iDynTree::KinDynComputations & comp,
 }
 
 
+
 bool checkFTSensorsAreCorrectlyOriented(iDynTree::KinDynComputations & comp)
 {
 
@@ -497,14 +524,14 @@ bool checkFTSensorsAreCorrectlyOriented(iDynTree::KinDynComputations & comp)
                            0.5, 0.866025, 0,
                             0, 0, -1);
 
-    bool ok = checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameLeftArmExpected, "l_arm_ft");
-    ok = checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameRightArmExpected, "r_arm_ft") && ok;
-    ok = checkFTSensorIsCorrectlyOriented(comp, rootLink_L_sensorFrameExpectedLeg, "l_leg_ft") && ok;
-    ok = checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameExpectedLeg, "r_leg_ft") && ok;
-    ok = checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameExpectedFoot, "l_foot_rear_ft") && ok;
-    ok = checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameExpectedFoot, "r_foot_rear_ft") && ok;
-    ok = checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameExpectedFoot, "l_foot_front_ft") && ok;
-    ok = checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameExpectedFoot, "r_foot_front_ft") && ok;
+    bool ok = checkFrameIsCorrectlyOriented(comp, rootLink_R_sensorFrameLeftArmExpected, "l_arm_ft");
+    ok = checkFrameIsCorrectlyOriented(comp, rootLink_R_sensorFrameRightArmExpected, "r_arm_ft") && ok;
+    ok = checkFrameIsCorrectlyOriented(comp, rootLink_L_sensorFrameExpectedLeg, "l_leg_ft") && ok;
+    ok = checkFrameIsCorrectlyOriented(comp, rootLink_R_sensorFrameExpectedLeg, "r_leg_ft") && ok;
+    ok = checkFrameIsCorrectlyOriented(comp, rootLink_R_sensorFrameExpectedFoot, "l_foot_rear_ft") && ok;
+    ok = checkFrameIsCorrectlyOriented(comp, rootLink_R_sensorFrameExpectedFoot, "r_foot_rear_ft") && ok;
+    ok = checkFrameIsCorrectlyOriented(comp, rootLink_R_sensorFrameExpectedFoot, "l_foot_front_ft") && ok;
+    ok = checkFrameIsCorrectlyOriented(comp, rootLink_R_sensorFrameExpectedFoot, "r_foot_front_ft") && ok;
     return ok;
 }
 
@@ -726,7 +753,7 @@ int main(int argc, char ** argv)
 
 
     // Check if l_sole/r_sole have the same distance from the root_link
-    if( !checkSolesAreParallel(comp) )
+    if( !checkSolesAreParallelAndCorrectlyPlaced(comp) )
     {
         return EXIT_FAILURE;
     }
diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1/model.urdf b/urdf/ergoCub/robots/ergoCubGazeboV1/model.urdf
index 8c9325a4..97d64ff8 100644
--- a/urdf/ergoCub/robots/ergoCubGazeboV1/model.urdf
+++ b/urdf/ergoCub/robots/ergoCubGazeboV1/model.urdf
@@ -280,7 +280,7 @@
   </joint>
   <link name="r_sole"/>
   <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.05963 0 -0.022299999999999986" rpy="0 0 0"/>
+    <origin xyz="0.05963 0 -0.024299999999999877" rpy="0 0 0"/>
     <parent link="r_foot_rear"/>
     <child link="r_sole"/>
     <dynamics damping="0.1"/>
@@ -600,7 +600,7 @@
   </joint>
   <link name="l_sole"/>
   <joint name="l_sole_fixed_joint" type="fixed">
-    <origin xyz="0.05963 0 -0.022299999999999986" rpy="0 0 0"/>
+    <origin xyz="0.05963 0 -0.024299999999999877" rpy="0 0 0"/>
     <parent link="l_foot_rear"/>
     <child link="l_sole"/>
     <dynamics damping="0.1"/>
diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf b/urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf
index 3430d585..78d33724 100644
--- a/urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf
+++ b/urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf
@@ -1241,8 +1241,8 @@
     </collision>
   </link>
   <joint name="l_index_add" type="revolute">
-    <origin xyz="0.022500000000000034 -0.0015000000000006397 -0.06859999999999966" rpy="-8.126657451512497e-16 -0.2967059722446555 1.7414265967526777e-16"/>
-    <axis xyz="1.3005559878087045e-15 1.0000000000000002 -1.953448495705706e-15"/>
+    <origin xyz="0.022500000000000023 -0.0015000000000006952 -0.0685999999999996" rpy="-8.416895217637947e-16 -0.29670597224465534 5.804755322508926e-17"/>
+    <axis xyz="1.1895336853461886e-15 0.9999999999999999 -1.9812040713213337e-15"/>
     <parent link="l_hand_palm"/>
     <child link="l_hand_index_1"/>
     <limit lower="0" upper="0.2617993877991494" effort="1e+9" velocity="1e+9"/>
@@ -1251,7 +1251,7 @@
   <link name="l_hand_index_1">
     <inertial>
       <mass value="0.01923264"/>
-      <origin xyz="0.0046807100979840005 0.0038510231744862677 -0.018526526203731464" rpy="0 -0 0"/>
+      <origin xyz="0.0046807100979840005 0.0038510231744863237 -0.018526526203731575" rpy="0 -0 0"/>
       <inertia ixx="0.01" ixy="1.4548370851701976e-7" ixz="1.4373172964405972e-7" iyy="0.01" iyz="-6.425403568227921e-7" izz="0.01"/>
     </inertial>
     <visual>
@@ -1571,8 +1571,8 @@
     </collision>
   </link>
   <joint name="l_index_prox" type="revolute">
-    <origin xyz="0.009192533346793416 -2.7755575615628914e-17 -0.030713451309624162" rpy="-2.7755575615628914e-16 -7.023611553469422e-10 -7.771561172376094e-16"/>
-    <axis xyz="-1.0000000000000002 2.7755575615627613e-17 7.023654366444809e-10"/>
+    <origin xyz="0.00919253334679343 0 -0.030713451309624218" rpy="-3.0531133177191815e-16 -7.023611484080483e-10 -7.771561172376096e-16"/>
+    <axis xyz="-1 8.326672684688522e-17 7.023654435833748e-10"/>
     <parent link="l_hand_index_1"/>
     <child link="l_hand_index_2"/>
     <limit lower="0" upper="1.5707963267948966" effort="1e+9" velocity="1e+9"/>
@@ -1604,8 +1604,8 @@
     </collision>
   </link>
   <joint name="l_index_dist" type="revolute">
-    <origin xyz="-2.7755575615628914e-17 -0.0014999999999999736 -0.039999999999999925" rpy="-7.482326169760975e-8 1.734723475976807e-16 -6.106226635438361e-16"/>
-    <axis xyz="-1 -1.804112664227406e-16 9.020562801946248e-17"/>
+    <origin xyz="-1.3877787807814457e-17 -0.001500000000000029 -0.03999999999999987" rpy="-7.482326172536535e-8 1.8041124150158794e-16 -6.106226635438361e-16"/>
+    <axis xyz="-1 -2.359224176539984e-16 4.163337069211178e-17"/>
     <parent link="l_hand_index_2"/>
     <child link="l_hand_index_3"/>
     <limit lower="0" upper="1.7994344588061537" effort="1e+9" velocity="1e+9"/>
@@ -1614,7 +1614,7 @@
   <link name="l_hand_index_3">
     <inertial>
       <mass value="0.007251413"/>
-      <origin xyz="-0.018787329483201373 0.002754671170301093 -0.018853294932697606" rpy="0 -0 0"/>
+      <origin xyz="-0.018787329483201345 0.0027546711703011484 -0.018853294932697662" rpy="0 -0 0"/>
       <inertia ixx="0.01" ixy="4.65463304290381e-8" ixz="2.5624287052698965e-7" iyy="0.01" iyz="-2.891156821380605e-7" izz="0.01"/>
     </inertial>
     <visual>
@@ -2508,7 +2508,7 @@
   </joint>
   <link name="l_sole"/>
   <joint name="l_sole_fixed_joint" type="fixed">
-    <origin xyz="0.059629999999999996 0 1.1102230246251565e-16" rpy="0 1.5094274020956558e-31 0"/>
+    <origin xyz="0.059629999999999996 -1.3877787807814457e-17 -0.024299999999999877" rpy="0 1.5094274020956558e-31 0"/>
     <parent link="l_foot_rear"/>
     <child link="l_sole"/>
   </joint>
@@ -2874,7 +2874,7 @@
   </joint>
   <link name="r_sole"/>
   <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.05963 -1.3877787807814457e-17 7.771561172376096e-16" rpy="0 3.1371750050201436e-30 0"/>
+    <origin xyz="0.05963 -1.3877787807814457e-17 -0.02429999999999999" rpy="0 3.1371750050201436e-30 0"/>
     <parent link="r_foot_rear"/>
     <child link="r_sole"/>
   </joint>
diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1_1_minContacts/model.urdf b/urdf/ergoCub/robots/ergoCubGazeboV1_1_minContacts/model.urdf
index 9c22d5ae..6a2cae1b 100644
--- a/urdf/ergoCub/robots/ergoCubGazeboV1_1_minContacts/model.urdf
+++ b/urdf/ergoCub/robots/ergoCubGazeboV1_1_minContacts/model.urdf
@@ -1133,8 +1133,8 @@
     </collision>
   </link>
   <joint name="l_index_add" type="revolute">
-    <origin xyz="0.022500000000000034 -0.0015000000000006397 -0.06859999999999966" rpy="-8.126657451512497e-16 -0.2967059722446555 1.7414265967526777e-16"/>
-    <axis xyz="1.3005559878087045e-15 1.0000000000000002 -1.953448495705706e-15"/>
+    <origin xyz="0.022500000000000023 -0.0015000000000006952 -0.0685999999999996" rpy="-8.416895217637947e-16 -0.29670597224465534 5.804755322508926e-17"/>
+    <axis xyz="1.1895336853461886e-15 0.9999999999999999 -1.9812040713213337e-15"/>
     <parent link="l_hand_palm"/>
     <child link="l_hand_index_1"/>
     <limit lower="0" upper="0.2617993877991494" effort="1e+9" velocity="1e+9"/>
@@ -1143,7 +1143,7 @@
   <link name="l_hand_index_1">
     <inertial>
       <mass value="0.01923264"/>
-      <origin xyz="0.0046807100979840005 0.0038510231744862677 -0.018526526203731464" rpy="0 -0 0"/>
+      <origin xyz="0.0046807100979840005 0.0038510231744863237 -0.018526526203731575" rpy="0 -0 0"/>
       <inertia ixx="0.01" ixy="1.4548370851701976e-7" ixz="1.4373172964405972e-7" iyy="0.01" iyz="-6.425403568227921e-7" izz="0.01"/>
     </inertial>
     <visual>
@@ -1433,8 +1433,8 @@
     </collision>
   </link>
   <joint name="l_index_prox" type="revolute">
-    <origin xyz="0.009192533346793416 -2.7755575615628914e-17 -0.030713451309624162" rpy="-2.7755575615628914e-16 -7.023611553469422e-10 -7.771561172376094e-16"/>
-    <axis xyz="-1.0000000000000002 2.7755575615627613e-17 7.023654366444809e-10"/>
+    <origin xyz="0.00919253334679343 0 -0.030713451309624218" rpy="-3.0531133177191815e-16 -7.023611484080483e-10 -7.771561172376096e-16"/>
+    <axis xyz="-1 8.326672684688522e-17 7.023654435833748e-10"/>
     <parent link="l_hand_index_1"/>
     <child link="l_hand_index_2"/>
     <limit lower="0" upper="1.5707963267948966" effort="1e+9" velocity="1e+9"/>
@@ -1463,8 +1463,8 @@
     </collision>
   </link>
   <joint name="l_index_dist" type="revolute">
-    <origin xyz="-2.7755575615628914e-17 -0.0014999999999999736 -0.039999999999999925" rpy="-7.482326169760975e-8 1.734723475976807e-16 -6.106226635438361e-16"/>
-    <axis xyz="-1 -1.804112664227406e-16 9.020562801946248e-17"/>
+    <origin xyz="-1.3877787807814457e-17 -0.001500000000000029 -0.03999999999999987" rpy="-7.482326172536535e-8 1.8041124150158794e-16 -6.106226635438361e-16"/>
+    <axis xyz="-1 -2.359224176539984e-16 4.163337069211178e-17"/>
     <parent link="l_hand_index_2"/>
     <child link="l_hand_index_3"/>
     <limit lower="0" upper="1.7994344588061537" effort="1e+9" velocity="1e+9"/>
@@ -1473,7 +1473,7 @@
   <link name="l_hand_index_3">
     <inertial>
       <mass value="0.007251413"/>
-      <origin xyz="-0.018787329483201373 0.002754671170301093 -0.018853294932697606" rpy="0 -0 0"/>
+      <origin xyz="-0.018787329483201345 0.0027546711703011484 -0.018853294932697662" rpy="0 -0 0"/>
       <inertia ixx="0.01" ixy="4.65463304290381e-8" ixz="2.5624287052698965e-7" iyy="0.01" iyz="-2.891156821380605e-7" izz="0.01"/>
     </inertial>
     <visual>
@@ -2328,7 +2328,7 @@
   </joint>
   <link name="l_sole"/>
   <joint name="l_sole_fixed_joint" type="fixed">
-    <origin xyz="0.059629999999999996 0 1.1102230246251565e-16" rpy="0 1.5094274020956558e-31 0"/>
+    <origin xyz="0.059629999999999996 -1.3877787807814457e-17 -0.024299999999999877" rpy="0 1.5094274020956558e-31 0"/>
     <parent link="l_foot_rear"/>
     <child link="l_sole"/>
   </joint>
@@ -2694,7 +2694,7 @@
   </joint>
   <link name="r_sole"/>
   <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.05963 -1.3877787807814457e-17 7.771561172376096e-16" rpy="0 3.1371750050201436e-30 0"/>
+    <origin xyz="0.05963 -1.3877787807814457e-17 -0.02429999999999999" rpy="0 3.1371750050201436e-30 0"/>
     <parent link="r_foot_rear"/>
     <child link="r_sole"/>
   </joint>
diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1_minContacts/model.urdf b/urdf/ergoCub/robots/ergoCubGazeboV1_minContacts/model.urdf
index b9c9e20d..207ebe08 100644
--- a/urdf/ergoCub/robots/ergoCubGazeboV1_minContacts/model.urdf
+++ b/urdf/ergoCub/robots/ergoCubGazeboV1_minContacts/model.urdf
@@ -280,7 +280,7 @@
   </joint>
   <link name="r_sole"/>
   <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.05963 0 -0.022299999999999986" rpy="0 0 0"/>
+    <origin xyz="0.05963 0 -0.024299999999999877" rpy="0 0 0"/>
     <parent link="r_foot_rear"/>
     <child link="r_sole"/>
     <dynamics damping="0.1"/>
@@ -600,7 +600,7 @@
   </joint>
   <link name="l_sole"/>
   <joint name="l_sole_fixed_joint" type="fixed">
-    <origin xyz="0.05963 0 -0.022299999999999986" rpy="0 0 0"/>
+    <origin xyz="0.05963 0 -0.024299999999999877" rpy="0 0 0"/>
     <parent link="l_foot_rear"/>
     <child link="l_sole"/>
     <dynamics damping="0.1"/>
diff --git a/urdf/ergoCub/robots/ergoCubSN000/model.urdf b/urdf/ergoCub/robots/ergoCubSN000/model.urdf
index 87413a34..995ec051 100644
--- a/urdf/ergoCub/robots/ergoCubSN000/model.urdf
+++ b/urdf/ergoCub/robots/ergoCubSN000/model.urdf
@@ -280,7 +280,7 @@
   </joint>
   <link name="r_sole"/>
   <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.05963 0 -0.022299999999999986" rpy="0 0 0"/>
+    <origin xyz="0.05963 0 -0.024299999999999877" rpy="0 0 0"/>
     <parent link="r_foot_rear"/>
     <child link="r_sole"/>
     <dynamics damping="0.1"/>
@@ -600,7 +600,7 @@
   </joint>
   <link name="l_sole"/>
   <joint name="l_sole_fixed_joint" type="fixed">
-    <origin xyz="0.05963 0 -0.022299999999999986" rpy="0 0 0"/>
+    <origin xyz="0.05963 0 -0.024299999999999877" rpy="0 0 0"/>
     <parent link="l_foot_rear"/>
     <child link="l_sole"/>
     <dynamics damping="0.1"/>
diff --git a/urdf/ergoCub/robots/ergoCubSN001/model.urdf b/urdf/ergoCub/robots/ergoCubSN001/model.urdf
index c165fec4..e8e07897 100644
--- a/urdf/ergoCub/robots/ergoCubSN001/model.urdf
+++ b/urdf/ergoCub/robots/ergoCubSN001/model.urdf
@@ -1241,8 +1241,8 @@
     </collision>
   </link>
   <joint name="l_index_add" type="revolute">
-    <origin xyz="0.022500000000000034 -0.0015000000000006397 -0.06859999999999966" rpy="-8.126657451512497e-16 -0.2967059722446555 1.7414265967526777e-16"/>
-    <axis xyz="1.3005559878087045e-15 1.0000000000000002 -1.953448495705706e-15"/>
+    <origin xyz="0.022500000000000023 -0.0015000000000006952 -0.0685999999999996" rpy="-8.416895217637947e-16 -0.29670597224465534 5.804755322508926e-17"/>
+    <axis xyz="1.1895336853461886e-15 0.9999999999999999 -1.9812040713213337e-15"/>
     <parent link="l_hand_palm"/>
     <child link="l_hand_index_1"/>
     <limit lower="0" upper="0.2617993877991494" effort="1e+9" velocity="1e+9"/>
@@ -1251,8 +1251,8 @@
   <link name="l_hand_index_1">
     <inertial>
       <mass value="0.01923264"/>
-      <origin xyz="0.0046807100979840005 0.0038510231744862677 -0.018526526203731464" rpy="0 -0 0"/>
-      <inertia ixx="2.8516997256950557e-6" ixy="1.4548370851701976e-7" ixz="1.4373172964405972e-7" iyy="2.3676120706829812e-6" iyz="-6.425403568227921e-7" izz="1.4278260577276285e-6"/>
+      <origin xyz="0.0046807100979840005 0.0038510231744863237 -0.018526526203731575" rpy="0 -0 0"/>
+      <inertia ixx="2.8516997256950557e-6" ixy="1.4548370851701976e-7" ixz="1.4373172964405972e-7" iyy="2.3676120706829804e-6" iyz="-6.425403568227921e-7" izz="1.4278260577276285e-6"/>
     </inertial>
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
@@ -1571,8 +1571,8 @@
     </collision>
   </link>
   <joint name="l_index_prox" type="revolute">
-    <origin xyz="0.009192533346793416 -2.7755575615628914e-17 -0.030713451309624162" rpy="-2.7755575615628914e-16 -7.023611553469422e-10 -7.771561172376094e-16"/>
-    <axis xyz="-1.0000000000000002 2.7755575615627613e-17 7.023654366444809e-10"/>
+    <origin xyz="0.00919253334679343 0 -0.030713451309624218" rpy="-3.0531133177191815e-16 -7.023611484080483e-10 -7.771561172376096e-16"/>
+    <axis xyz="-1 8.326672684688522e-17 7.023654435833748e-10"/>
     <parent link="l_hand_index_1"/>
     <child link="l_hand_index_2"/>
     <limit lower="0" upper="1.5707963267948966" effort="1e+9" velocity="1e+9"/>
@@ -1604,8 +1604,8 @@
     </collision>
   </link>
   <joint name="l_index_dist" type="revolute">
-    <origin xyz="-2.7755575615628914e-17 -0.0014999999999999736 -0.039999999999999925" rpy="-7.482326169760975e-8 1.734723475976807e-16 -6.106226635438361e-16"/>
-    <axis xyz="-1 -1.804112664227406e-16 9.020562801946248e-17"/>
+    <origin xyz="-1.3877787807814457e-17 -0.001500000000000029 -0.03999999999999987" rpy="-7.482326172536535e-8 1.8041124150158794e-16 -6.106226635438361e-16"/>
+    <axis xyz="-1 -2.359224176539984e-16 4.163337069211178e-17"/>
     <parent link="l_hand_index_2"/>
     <child link="l_hand_index_3"/>
     <limit lower="0" upper="1.7994344588061537" effort="1e+9" velocity="1e+9"/>
@@ -1614,8 +1614,8 @@
   <link name="l_hand_index_3">
     <inertial>
       <mass value="0.007251413"/>
-      <origin xyz="-0.018787329483201373 0.002754671170301093 -0.018853294932697606" rpy="0 -0 0"/>
-      <inertia ixx="1.8961170965705488e-6" ixy="4.65463304290381e-8" ixz="2.5624287052698965e-7" iyy="1.8786285070808614e-6" iyz="-2.891156821380605e-7" izz="4.113501491925148e-7"/>
+      <origin xyz="-0.018787329483201345 0.0027546711703011484 -0.018853294932697662" rpy="0 -0 0"/>
+      <inertia ixx="1.8961170965705492e-6" ixy="4.65463304290381e-8" ixz="2.5624287052698965e-7" iyy="1.8786285070808614e-6" iyz="-2.891156821380605e-7" izz="4.113501491925148e-7"/>
     </inertial>
     <visual>
       <origin xyz="0 0 0" rpy="0 -0 0"/>
@@ -2508,7 +2508,7 @@
   </joint>
   <link name="l_sole"/>
   <joint name="l_sole_fixed_joint" type="fixed">
-    <origin xyz="0.059629999999999996 0 1.1102230246251565e-16" rpy="0 1.5094274020956558e-31 0"/>
+    <origin xyz="0.059629999999999996 -1.3877787807814457e-17 -0.024299999999999877" rpy="0 1.5094274020956558e-31 0"/>
     <parent link="l_foot_rear"/>
     <child link="l_sole"/>
   </joint>
@@ -2874,7 +2874,7 @@
   </joint>
   <link name="r_sole"/>
   <joint name="r_sole_fixed_joint" type="fixed">
-    <origin xyz="0.05963 -1.3877787807814457e-17 7.771561172376096e-16" rpy="0 3.1371750050201436e-30 0"/>
+    <origin xyz="0.05963 -1.3877787807814457e-17 -0.02429999999999999" rpy="0 3.1371750050201436e-30 0"/>
     <parent link="r_foot_rear"/>
     <child link="r_sole"/>
   </joint>