diff --git a/projects/robots/pal_robotics/tiago_extensions/protos/TiagoRobotiqGripper.proto b/projects/robots/pal_robotics/tiago_extensions/protos/TiagoRobotiqGripper.proto
index c94ffe5039f..7f8bff87766 100644
--- a/projects/robots/pal_robotics/tiago_extensions/protos/TiagoRobotiqGripper.proto
+++ b/projects/robots/pal_robotics/tiago_extensions/protos/TiagoRobotiqGripper.proto
@@ -12,7 +12,7 @@ EXTERNPROTO "webots://projects/devices/robotiq/protos/Robotiq2f140Gripper.proto"
 EXTERNPROTO "webots://projects/devices/robotiq/protos/RobotiqEPickGripper.proto"
 
 PROTO TiagoRobotiqGripper [
-  field  SFVec3f                               translation  0 0.013 0
+  field  SFVec3f                               translation  0 0.032 0
   field  SFRotation                            rotation     0 0.7071 0.7071 3.14159
   field  SFString{"2F-85", "2F-140", "EPick"}  model        "2F-85"
   field  SFString{"front", "left", "right"}    side         "front"
@@ -42,12 +42,11 @@ PROTO TiagoRobotiqGripper [
       rotation IS rotation
       children [
         DEF COUPLING Pose {
-          translation 0 0 -0.0041
+          translation 0 -0.0003 -0.0117
           children [
             Shape {
-              geometry Cylinder {
-                height 0.0082
-                radius 0.023
+              geometry Mesh {
+                url "meshes/pal_robotiq_coupling.stl"
               }
               appearance DEF BLACK_METAL PBRAppearance {
                 baseColor 0 0 0
diff --git a/projects/robots/pal_robotics/tiago_extensions/protos/meshes/pal_robotiq_coupling.stl b/projects/robots/pal_robotics/tiago_extensions/protos/meshes/pal_robotiq_coupling.stl
new file mode 100644
index 00000000000..a6f5ea13fb0
Binary files /dev/null and b/projects/robots/pal_robotics/tiago_extensions/protos/meshes/pal_robotiq_coupling.stl differ