diff --git a/data/meshes/anymal_trunk_large.stl b/data/meshes/anymal_trunk_large.stl
index bb543bee30ecbab7e8458e6cdab4f970be0b3ee9..ee9d46deb7cb13edfc7c80b0ebf9dfbbf85701c0 100644
Binary files a/data/meshes/anymal_trunk_large.stl and b/data/meshes/anymal_trunk_large.stl differ
diff --git a/src/hpp/corbaserver/rbprm/anymal/robot.py b/src/hpp/corbaserver/rbprm/anymal/robot.py
index 17cd605e1b2c5efce12623ef14d960006f13a756..5f543b7e31afb77e0b5b8d5b8070f72d1655c7cf 100644
--- a/src/hpp/corbaserver/rbprm/anymal/robot.py
+++ b/src/hpp/corbaserver/rbprm/anymal/robot.py
@@ -63,7 +63,7 @@ class Robot (Parent):
     nbSamples = 50000
     octreeSize = 0.01
     cType = "_3_DOF"
-    offset = [0.,0.,-0.011]
+    offset = [0.,0.,-0.016]
 
     rLegLimbOffset = [0.373, 0.264, 0.]
     lLegLimbOffset = [0.373, -0.264,0.]