diff --git a/plugins/robots/common/twoDModel/src/engine/items/wallItem.cpp b/plugins/robots/common/twoDModel/src/engine/items/wallItem.cpp
index ab24afeefb..9913f53cd0 100644
--- a/plugins/robots/common/twoDModel/src/engine/items/wallItem.cpp
+++ b/plugins/robots/common/twoDModel/src/engine/items/wallItem.cpp
@@ -28,6 +28,7 @@ using namespace graphicsUtils;
 namespace {
 	constexpr qreal wallFriction = 1.0f;
 	constexpr qreal wallRestituion = 0.8f;
+	constexpr qreal wallIntersectionEps = 1e-5;
 }
 
 WallItem::WallItem(graphicsUtils::AbstractCoordinateSystem *metricSystem,
@@ -304,10 +305,10 @@ QPolygonF WallItem::collidingPolygon() const
 	QLineF dc(abcdBoundingRect.bottomLeft(), abcdBoundingRect.bottomRight());
 	QLineF ad(abcdBoundingRect.topLeft(), abcdBoundingRect.bottomLeft());
 
-	QList<QPointF> abIntersection = mathUtils::Geometry::intersection(ab, mPath);
-	QList<QPointF> bcIntersection = mathUtils::Geometry::intersection(bc, mPath);
-	QList<QPointF> dcIntersection = mathUtils::Geometry::intersection(dc, mPath);
-	QList<QPointF> adIntersection = mathUtils::Geometry::intersection(ad, mPath);
+	QList<QPointF> abIntersection = mathUtils::Geometry::intersection(ab, mPath, wallIntersectionEps);
+	QList<QPointF> bcIntersection = mathUtils::Geometry::intersection(bc, mPath, wallIntersectionEps);
+	QList<QPointF> dcIntersection = mathUtils::Geometry::intersection(dc, mPath, wallIntersectionEps);
+	QList<QPointF> adIntersection = mathUtils::Geometry::intersection(ad, mPath, wallIntersectionEps);
 
 	Q_ASSERT(abIntersection.length() == 2);
 	Q_ASSERT(bcIntersection.length() == 2);
diff --git a/qrtranslations/es/plugins/robots/common/twoDModel_es.ts b/qrtranslations/es/plugins/robots/common/twoDModel_es.ts
index 4ea4f572db..bae1e331ef 100644
--- a/qrtranslations/es/plugins/robots/common/twoDModel_es.ts
+++ b/qrtranslations/es/plugins/robots/common/twoDModel_es.ts
@@ -585,7 +585,7 @@
 <context>
     <name>twoDModel::items::WallItem</name>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/items/wallItem.cpp" line="68"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/items/wallItem.cpp" line="69"/>
         <source>Wall (W)</source>
         <translation>Pared (W)</translation>
     </message>
diff --git a/qrtranslations/fr/plugins/robots/common/twoDModel_fr.ts b/qrtranslations/fr/plugins/robots/common/twoDModel_fr.ts
index 2918ca8020..9774546b2c 100644
--- a/qrtranslations/fr/plugins/robots/common/twoDModel_fr.ts
+++ b/qrtranslations/fr/plugins/robots/common/twoDModel_fr.ts
@@ -593,7 +593,7 @@
 <context>
     <name>twoDModel::items::WallItem</name>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/items/wallItem.cpp" line="+68"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/items/wallItem.cpp" line="+69"/>
         <source>Wall (W)</source>
         <translation>Mur (W)</translation>
     </message>
diff --git a/qrtranslations/ru/plugins/robots/common/twoDModel_ru.ts b/qrtranslations/ru/plugins/robots/common/twoDModel_ru.ts
index c1bee26909..9e4c553943 100644
--- a/qrtranslations/ru/plugins/robots/common/twoDModel_ru.ts
+++ b/qrtranslations/ru/plugins/robots/common/twoDModel_ru.ts
@@ -877,7 +877,7 @@
 <context>
     <name>twoDModel::items::WallItem</name>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/items/wallItem.cpp" line="+68"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/items/wallItem.cpp" line="+69"/>
         <source>Wall (W)</source>
         <translation>Стена (W)</translation>
     </message>
diff --git a/qrtranslations/vi/plugins/robots/common/twoDModel_vi.ts b/qrtranslations/vi/plugins/robots/common/twoDModel_vi.ts
index c3adc7c9ff..540200893b 100644
--- a/qrtranslations/vi/plugins/robots/common/twoDModel_vi.ts
+++ b/qrtranslations/vi/plugins/robots/common/twoDModel_vi.ts
@@ -585,7 +585,7 @@
 <context>
     <name>twoDModel::items::WallItem</name>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/items/wallItem.cpp" line="68"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/items/wallItem.cpp" line="69"/>
         <source>Wall (W)</source>
         <translation>Tường (W)</translation>
     </message>