diff --git a/urdf/test/pr2_desc.urdf b/urdf/test/pr2_desc.urdf
index 07308a0..ebef6c6 100644
--- a/urdf/test/pr2_desc.urdf
+++ b/urdf/test/pr2_desc.urdf
@@ -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">