diff --git a/franka_description/robots/hand.xacro b/franka_description/robots/hand.xacro
index 22e6a0876..b7848b389 100644
--- a/franka_description/robots/hand.xacro
+++ b/franka_description/robots/hand.xacro
@@ -33,32 +33,26 @@
           <sphere radius="${0.04+safety_distance}"  />
         </geometry>
       </collision>
-      <collision>
-        <origin xyz="0 0 0.1" rpy="0 ${pi/2} ${pi/2}"/>
+    </link>
+    <link name="${ns}_leftfinger">
+      <visual>
         <geometry>
-          <cylinder radius="${0.02+safety_distance}" length="0.1" />
+          <mesh filename="package://franka_description/meshes/visual/finger.dae"/>
         </geometry>
-      </collision>
+      </visual>
       <collision>
-        <origin xyz="0 -0.05 0.1" rpy="0 0 0"/>
+        <origin xyz="0 0.01 0.0415" rpy="0 0 0"/>
         <geometry>
           <sphere radius="${0.02+safety_distance}"  />
         </geometry>
       </collision>
       <collision>
-        <origin xyz="0 0.05 0.1" rpy="0 0 0"/>
+        <origin xyz="0 -0.015 0.0416" rpy="0 ${pi/2} ${pi/2}"/>
         <geometry>
-          <sphere radius="${0.02+safety_distance}"  />
+          <cylinder radius="${0.02+safety_distance}" length="0.05" />
         </geometry>
       </collision>
     </link>
-    <link name="${ns}_leftfinger">
-      <visual>
-        <geometry>
-          <mesh filename="package://franka_description/meshes/visual/finger.dae"/>
-        </geometry>
-      </visual>
-    </link>
     <link name="${ns}_rightfinger">
       <visual>
         <origin xyz="0 0 0" rpy="0 0 ${pi}"/>
@@ -66,6 +60,18 @@
           <mesh filename="package://franka_description/meshes/visual/finger.dae"/>
         </geometry>
       </visual>
+      <collision>
+        <origin xyz="0 -0.01 0.0415" rpy="0 0 0"/>
+        <geometry>
+          <sphere radius="${0.02+safety_distance}"  />
+        </geometry>
+      </collision>
+      <collision>
+        <origin xyz="0 0.015 0.0416" rpy="0 ${pi/2} ${pi/2}"/>
+        <geometry>
+          <cylinder radius="${0.02+safety_distance}" length="0.05" />
+        </geometry>
+      </collision>
    </link>
     <joint name="${ns}_finger_joint1" type="prismatic">
       <parent link="${ns}_hand"/>
diff --git a/franka_description/robots/panda_arm.urdf.xacro b/franka_description/robots/panda_arm.urdf.xacro
index d5b8d0061..4f0b18bfe 100644
--- a/franka_description/robots/panda_arm.urdf.xacro
+++ b/franka_description/robots/panda_arm.urdf.xacro
@@ -14,7 +14,7 @@
 
     <xacro:if value="$(arg hand)">
       <xacro:include filename="$(find franka_description)/robots/hand.xacro"/>
-      <xacro:hand ns="${arm_id}" rpy="0 0 ${-pi/4}" connected_to="${arm_id}_link8" safety_distance="0.03"/>
+      <xacro:hand ns="${arm_id}" rpy="0 0 ${-pi/4}" connected_to="${arm_id}_link8" safety_distance="0.0"/>
     </xacro:if>
   </xacro:unless>