diff --git a/config/panda_arm_hand.srdf.xacro b/config/panda_arm_hand.srdf.xacro
index 9e60335251c24548caa1c3921edc59a8507788be..774a103acda99c2091489f8a38603d833b3c678c 100644
--- a/config/panda_arm_hand.srdf.xacro
+++ b/config/panda_arm_hand.srdf.xacro
@@ -27,6 +27,15 @@
     <joint name="panda_joint6" value="1.571" />
     <joint name="panda_joint7" value="0.785" />
   </group_state>
+  <group_state name="extended" group="panda_arm_hand">
+    <joint name="panda_joint1" value="0" />
+    <joint name="panda_joint2" value="0" />
+    <joint name="panda_joint3" value="0" />
+    <joint name="panda_joint4" value="0" />
+    <joint name="panda_joint5" value="0" />
+    <joint name="panda_joint6" value="0" />
+    <joint name="panda_joint7" value="0.785" />
+  </group_state>
   <group_state name="open" group="hand">
     <joint name="panda_finger_joint1" value="0.035" />
     <joint name="panda_finger_joint2" value="0.035" />