diff --git a/franka_description/robots/hand.xacro b/franka_description/robots/hand.xacro
index 7f83ae4f066370572153410dcfad4a94b7f7b7bd..63e95d1c0a38aabad79d914f6f99277e5620f003 100644
--- a/franka_description/robots/hand.xacro
+++ b/franka_description/robots/hand.xacro
@@ -83,7 +83,6 @@
       <origin xyz="0 0 0.0584" rpy="0 0 0"/>
       <axis xyz="0 -1 0"/>
       <limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
-      <mimic joint="${ns}_finger_joint1" />
     </joint>
   </xacro:macro>
 </robot>