diff --git a/src/factory_sim/description/inspection_tool.xml b/src/factory_sim/description/inspection_tool.xml
index 7e3b1cd2b..63b69778b 100644
--- a/src/factory_sim/description/inspection_tool.xml
+++ b/src/factory_sim/description/inspection_tool.xml
@@ -21,7 +21,7 @@
           type="cylinder"
           size="0.01 0.015"
           pos="0 0 0.015"
-          margin="0.01"
+          margin="0"
           gap="0.01"
           rgba="0 0 1 1"
         />
diff --git a/src/factory_sim/description/suction_tool.xml b/src/factory_sim/description/suction_tool.xml
index 04b27afe3..54e720566 100644
--- a/src/factory_sim/description/suction_tool.xml
+++ b/src/factory_sim/description/suction_tool.xml
@@ -21,7 +21,7 @@
           type="cylinder"
           size="0.01 0.03"
           pos="0 0 0.03"
-          margin="0.01"
+          margin="0"
           gap="0.01"
           rgba=".1 .1 .1 1"
         />
@@ -30,7 +30,7 @@
             class="collision"
             type="cylinder"
             size="0.01 0.005"
-            margin="0.01"
+            margin="0"
             gap="0.01"
           />
           <site name="suction_cup_tool_tip" />
diff --git a/src/hangar_sim/description/vacuum.xml b/src/hangar_sim/description/vacuum.xml
index 002a60d6b..339b111cc 100644
--- a/src/hangar_sim/description/vacuum.xml
+++ b/src/hangar_sim/description/vacuum.xml
@@ -36,7 +36,7 @@
         type="mesh"
         name="collision_vacuum_suction_cups geom"
         mesh="collision_vacuum_suction_cups"
-        margin="0.02"
+        margin="0"
         gap="0.02"
       />
       <site name="suction_cup" type="box" size="0.1 0.1 0.1" />
diff --git a/src/picknik_accessories/mujoco_assets/lrmate200id/lrmate200id.xml b/src/picknik_accessories/mujoco_assets/lrmate200id/lrmate200id.xml
index 1416ee702..98ff7a9a9 100644
--- a/src/picknik_accessories/mujoco_assets/lrmate200id/lrmate200id.xml
+++ b/src/picknik_accessories/mujoco_assets/lrmate200id/lrmate200id.xml
@@ -90,7 +90,7 @@
                     type="box"
                     size="0.01 0.01 0.001"
                     pos="0 0 -0.001"
-                    margin="0.02"
+                    margin="0"
                     gap="0.02"
                   />
                   <site