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I solved this problem. When changing the look of the robot and make it tall in the stl file, I had to change in the both the origin of the base link and origin of the collision tag <collision></collision> and to make it as long as the one I change in the shape.
This is changed form the launch file of the robot urdf file description.

I didn't find any package that do that so, I had to create my own.

what I did it something like a moving wall