diff --git a/controllers/+floatingBaseBalancingTorqueControlWithSimulator/app/robots/iCubGazeboV2_5/configStateMachine.m b/controllers/+floatingBaseBalancingTorqueControlWithSimulator/app/robots/iCubGazeboV2_5/configStateMachine.m
index 0c4cc531..a8737e49 100644
--- a/controllers/+floatingBaseBalancingTorqueControlWithSimulator/app/robots/iCubGazeboV2_5/configStateMachine.m
+++ b/controllers/+floatingBaseBalancingTorqueControlWithSimulator/app/robots/iCubGazeboV2_5/configStateMachine.m
@@ -152,8 +152,8 @@
 fZmin                        = 10;
 
 % physical size of the foot                             
-feet_size                    = [-0.07  0.12 ;    % xMin, xMax
-                                -0.045 0.05 ];   % yMin, yMax  
+feet_size                    = [-0.07  0.12  ;    % xMin, xMax
+                                -0.045 0.045 ];   % yMin, yMax  
                                                     
 % Compute contact constraints (friction cone, unilateral constraints)
 [ConstraintsMatrix, bVectorConstraints] = wbc.computeRigidContactConstraints ...
diff --git a/controllers/floating-base-balancing-torque-control/app/robots/iCubGazeboV2_5/configStateMachine.m b/controllers/floating-base-balancing-torque-control/app/robots/iCubGazeboV2_5/configStateMachine.m
index fb213336..c385bc8e 100644
--- a/controllers/floating-base-balancing-torque-control/app/robots/iCubGazeboV2_5/configStateMachine.m
+++ b/controllers/floating-base-balancing-torque-control/app/robots/iCubGazeboV2_5/configStateMachine.m
@@ -152,8 +152,8 @@
 fZmin                        = 10;
 
 % physical size of the foot                             
-feet_size                    = [-0.07  0.12 ;    % xMin, xMax
-                                -0.045 0.05 ];   % yMin, yMax  
+feet_size                    = [-0.07  0.12  ;    % xMin, xMax
+                                -0.045 0.045 ];   % yMin, yMax  
                                                     
 % Compute contact constraints (friction cone, unilateral constraints)
 [ConstraintsMatrix, bVectorConstraints] = wbc.computeRigidContactConstraints ...
diff --git a/controllers/floating-base-balancing-torque-control/app/robots/iCubGenova02/configStateMachine.m b/controllers/floating-base-balancing-torque-control/app/robots/iCubGenova02/configStateMachine.m
index 7107ed3c..37777e0f 100644
--- a/controllers/floating-base-balancing-torque-control/app/robots/iCubGenova02/configStateMachine.m
+++ b/controllers/floating-base-balancing-torque-control/app/robots/iCubGenova02/configStateMachine.m
@@ -152,8 +152,8 @@
 fZmin                        = 10;
 
 % physical size of the foot                             
-feet_size                    = [-0.07  0.12 ;    % xMin, xMax
-                                -0.045 0.05 ];   % yMin, yMax  
+feet_size                    = [-0.07  0.12  ;    % xMin, xMax
+                                -0.045 0.045 ];   % yMin, yMax  
                                                     
 % Compute contact constraints (friction cone, unilateral constraints)
 [ConstraintsMatrix, bVectorConstraints] = wbc.computeRigidContactConstraints ...
diff --git a/controllers/floating-base-balancing-torque-control/app/robots/iCubGenova04/configStateMachine.m b/controllers/floating-base-balancing-torque-control/app/robots/iCubGenova04/configStateMachine.m
index 6c1d1788..e7580d34 100644
--- a/controllers/floating-base-balancing-torque-control/app/robots/iCubGenova04/configStateMachine.m
+++ b/controllers/floating-base-balancing-torque-control/app/robots/iCubGenova04/configStateMachine.m
@@ -152,8 +152,8 @@
 fZmin                        = 10;
 
 % physical size of the foot                             
-feet_size                    = [-0.07  0.12 ;    % xMin, xMax
-                                -0.045 0.05 ];   % yMin, yMax  
+feet_size                    = [-0.07  0.12  ;    % xMin, xMax
+                                -0.045 0.045 ];   % yMin, yMax  
                                                     
 % Compute contact constraints (friction cone, unilateral constraints)
 [ConstraintsMatrix, bVectorConstraints] = wbc.computeRigidContactConstraints ...
diff --git a/controllers/floating-base-jerk-control/app/robots/iCubGazeboV2_5/initStateMachineYoga.m b/controllers/floating-base-jerk-control/app/robots/iCubGazeboV2_5/initStateMachineYoga.m
index 2b80ce9f..72e1a532 100644
--- a/controllers/floating-base-jerk-control/app/robots/iCubGazeboV2_5/initStateMachineYoga.m
+++ b/controllers/floating-base-jerk-control/app/robots/iCubGazeboV2_5/initStateMachineYoga.m
@@ -520,5 +520,5 @@
 Config.fZmin                        = 10;
 
 % physical size of the foot                             
-Config.feet_size                    = [-0.07  0.12;    % xMin, xMax
-                                       -0.045 0.05];   % yMin, yMax  
\ No newline at end of file
+Config.feet_size                    = [-0.07  0.12 ;    % xMin, xMax
+                                       -0.045 0.045];   % yMin, yMax
diff --git a/controllers/floating-base-jerk-control/app/robots/iCubGenova04/initStateMachineYoga.m b/controllers/floating-base-jerk-control/app/robots/iCubGenova04/initStateMachineYoga.m
index 84e8243e..d3dc9fd3 100644
--- a/controllers/floating-base-jerk-control/app/robots/iCubGenova04/initStateMachineYoga.m
+++ b/controllers/floating-base-jerk-control/app/robots/iCubGenova04/initStateMachineYoga.m
@@ -525,5 +525,5 @@
 Config.fZmin                        = 10;
 
 % physical size of the foot                             
-Config.feet_size                    = [-0.07  0.12 ;    % xMin, xMax
-                                       -0.045 0.05 ];   % yMin, yMax  
\ No newline at end of file
+Config.feet_size                    = [-0.07  0.12  ;    % xMin, xMax
+                                       -0.045 0.045 ];   % yMin, yMax
diff --git a/controllers/simulink-balancing-simulator/app/robots/iCubGazeboV2_5/configStateMachine.m b/controllers/simulink-balancing-simulator/app/robots/iCubGazeboV2_5/configStateMachine.m
index fb213336..c385bc8e 100644
--- a/controllers/simulink-balancing-simulator/app/robots/iCubGazeboV2_5/configStateMachine.m
+++ b/controllers/simulink-balancing-simulator/app/robots/iCubGazeboV2_5/configStateMachine.m
@@ -152,8 +152,8 @@
 fZmin                        = 10;
 
 % physical size of the foot                             
-feet_size                    = [-0.07  0.12 ;    % xMin, xMax
-                                -0.045 0.05 ];   % yMin, yMax  
+feet_size                    = [-0.07  0.12  ;    % xMin, xMax
+                                -0.045 0.045 ];   % yMin, yMax  
                                                     
 % Compute contact constraints (friction cone, unilateral constraints)
 [ConstraintsMatrix, bVectorConstraints] = wbc.computeRigidContactConstraints ...