diff --git a/kdl_parser/test/pr2_desc.xml b/kdl_parser/test/pr2_desc.xml
index 07308a0..ebef6c6 100644
--- a/kdl_parser/test/pr2_desc.xml
+++ b/kdl_parser/test/pr2_desc.xml
@@ -2311,11 +2311,14 @@
     <material value="PR2/Red"/>
   </gazebo>
   <joint name="r_gripper_joint" type="prismatic">
+    <parent link="r_gripper_r_finger_tip_link"/>
+    <child link="r_gripper_l_finger_tip_frame"/>
     <axis xyz="0 1 0"/>
     <dynamics damping="100.0"/>
     <limit effort="1000.0" lower="0.0" upper="0.09" velocity="0.2"/>
     <safety_controller k_position="20.0" k_velocity="5000.0" soft_lower_limit="-0.01" soft_upper_limit="0.088"/>
   </joint>
+  <link name="r_gripper_l_finger_tip_frame"/>
   <gazebo reference="r_gripper_palm_link">
     <turnGravityOff>true</turnGravityOff>
     <sensor:contact name="r_gripper_palm_contact_sensor">
@@ -3202,11 +3205,14 @@
     <material value="PR2/Red"/>
   </gazebo>
   <joint name="l_gripper_joint" type="prismatic">
+    <parent link="l_gripper_r_finger_tip_link"/>
+    <child link="l_gripper_l_finger_tip_frame"/>
     <axis xyz="0 1 0"/>
     <dynamics damping="100.0"/>
     <limit effort="1000.0" lower="0.0" upper="0.09" velocity="0.2"/>
     <safety_controller k_position="20.0" k_velocity="5000.0" soft_lower_limit="-0.01" soft_upper_limit="0.088"/>
   </joint>
+  <link name="l_gripper_l_finger_tip_frame"/>
   <gazebo reference="l_gripper_palm_link">
     <turnGravityOff>true</turnGravityOff>
     <sensor:contact name="l_gripper_palm_contact_sensor">
diff --git a/kdl_parser/test/test_kdl_parser.cpp b/kdl_parser/test/test_kdl_parser.cpp
index 9f28362..c43d75f 100644
--- a/kdl_parser/test/test_kdl_parser.cpp
+++ b/kdl_parser/test/test_kdl_parser.cpp
@@ -73,8 +73,8 @@ TEST_F(TestParser, test)
   }
 
   ASSERT_TRUE(treeFromFile(g_argv[g_argc-1], my_tree));
-  ASSERT_EQ(my_tree.getNrOfJoints(), (unsigned int)42);
-  ASSERT_EQ(my_tree.getNrOfSegments(), (unsigned int)79);
+  ASSERT_EQ(my_tree.getNrOfJoints(), (unsigned int)44);
+  ASSERT_EQ(my_tree.getNrOfSegments(), (unsigned int)81);
   ASSERT_TRUE(my_tree.getSegment("base_footprint") == my_tree.getRootSegment());
   ASSERT_EQ(my_tree.getRootSegment()->second.children.size(), (unsigned int)1);
   ASSERT_TRUE(my_tree.getSegment("base_link")->second.parent == my_tree.getRootSegment());