diff --git a/src/SafetyAwarePlanner.cpp b/src/SafetyAwarePlanner.cpp
index 2c34ee6224a04c0a55b49ac6f0d17654f873bd0e..61cd8b74a25c7d38be4d0d3a49c2f72e31713a0c 100644
--- a/src/SafetyAwarePlanner.cpp
+++ b/src/SafetyAwarePlanner.cpp
@@ -63,6 +63,7 @@ int main(int argc, char** argv)
     std::vector<moveit_msgs::CollisionObject> collision_objects = sec.createCentralizedSafetyEnvironment(move_group);
 
     // show safety box in gazebo
+    safety_box_pose.position.z += .5 * safety_box.BOX_Z;
     GazeboZoneSpawner::spawnCollisionBox(safety_box, safety_box_pose);
 
     //visual_tools.processCollisionObjectMsg(collision_objects[2], rviz_visual_tools::RED);