diff --git a/intera_tools_description/urdf/connector_plate/connector_plate.xacro b/intera_tools_description/urdf/connector_plate/connector_plate.xacro
index 5b3173c..369ab54 100644
--- a/intera_tools_description/urdf/connector_plate/connector_plate.xacro
+++ b/intera_tools_description/urdf/connector_plate/connector_plate.xacro
@@ -19,9 +19,9 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0.0135" rpy="0 0 0" />
+      <origin xyz="0 0 ${rethink_connector_plate_length / 2}" rpy="0 0 0" />
         <geometry>
-          <cylinder length="${rethink_connector_plate_length*2.0}" radius="0.04"/>
+          <cylinder length="${rethink_connector_plate_length}" radius="0.04"/>
         </geometry>
         <material name="darkred">
           <color rgba=".5 .1 .1 1"/>